You could, although it's a weak synonym. "Andar" is often used as to stay, or to be (in a place). For instance, "Yo ando por Colombia" (I'm in Colombia) and "Yo ando por Bogotá estos días" (I stay in Bogota these days).
Leila.N, caminando is a form of caminar used for more complicated statements using two verbs e.g.
Voy a caminando -> I am going to walk
Estoy caminando -> I am walking (right now)
while Yo camino -> I walk.