Head alignment of a single-beam scanning sonar installed on a multi-legged underwater robot

In this paper, head alignment of a single-beam scanning sonar installed on a multi-legged underwater robot is described. The multi-legged underwater robot is supposed to survey seafloor, underwater structures, etc. Typical optic cameras, however, are not appropriate to show high quality scenes in a turbid water. Therefore, to collect images in a low visible underwater environment, the single-beam scanning sonar is proper and installed on the back of the robot. To collect sonar images without distortion caused by geological conditions of the sea floor, the robot needs to sense the attitude of the sonar and control it. This paper introduces a kinematic model of the multi-legged robot and its proper pose for head alignment of the sonar.