In this paper, we discuss underwater walking robot technology to improve the quality of raw data in sector-scanning sonar images. We propose a strategy for an efficient and precise sector-scanning sonar image acquisition method for use in shallow, strong tidal water with a curved and sloped seabed environment. We verified the strategy by analyzing images acquired through a sea trial using the sector-scanning sonar installed on the CRABSTER (CR200). Before creating this strategy, an experiment was conducted to acquire the seabed image near a pier using a tripod and vertical pole. To overcome the problems and limitations revealed through image analysis, we established two technical strategies. In conclusion, we were able to achieve those technical strategies by using the CR200, which is resistant to strong current, and its six legs provide freedom of movement, allowing for a good sonar attitude.

中文翻译：

---

扇形扫描声纳的应用：利用水下步行机器人在浅水中自由进行高效而精确的扇形扫描的策略。

在本文中，我们将讨论水下步行机器人技术，以提高扇区扫描声纳图像中原始数据的质量。我们提出了一种有效，精确的扇形扫描声纳图像采集方法的策略，该方法可用于具有弯曲和倾斜海底环境的浅水，强潮水。我们通过使用CRABSTER（CR200）上安装的扇形扫描声纳分析通过试航获得的图像来验证该策略。在制定此策略之前，进行了一项实验，使用三脚架和垂直杆获取码头附近的海底图像。为了克服通过图像分析发现的问题和局限性，我们建立了两种技术策略。总而言之，我们能够使用CR200来实现这些技术策略，因为CR200可以抵抗强电流，