The Design And Realization Of Underwater Electric Current Field Communication System On Bionic Robotic Fish

Due to the particular work environment of the underwater robots, it is difficult for thetraditional communication modes to operate efficiently underwater. In this paper, a small andflexible underwater electric current field communication system based on the bionic roboticfish has been developed. And the underwater electric current field communication system hasbeen used to accomplish the controlling of the underwater bionic robotic fish’s swimmingmodes.Research status at home and abroad about the underwater electric current fieldcommunication is introduced in this paper firstly.Secondly, this paper introduces the research status at home and abroad on the bionic roboticfish. And this paper emphasizes the electrical system of the bionic robotic fish, including themain controller, the information sensory perceptual system, control mechanism, power supplyunit and monitoring platform.Thirdly, the theoretical model and the working principle of the underwater electric currentfield communication have been introduced. Then the hardware of this communication has beendesigned. More efforts have been taken on the software realization of the underwater electriccurrent field communication, including the program flow of the underwater electric current fieldcommunication and the IIC bus realization between the raspberry pie and the communicationmodule.Furthermore, the experimental parameters about the double-frequencies underwater electriccurrent field communication have been confirmed through some experiments. And the bit errorrate (BER) has been adopted to evaluate the performance of this communication system. Moreexperiments have been taken on the performance of this communication system and the bionicrobotic fish integrated with this system. The bionic robotic fish’s swimming modes have beencontrolled through the underwater communication system, which has achieved the expectedresearch target.Finally, much more summaries and analysis of this paper have been done to point out thefurther research and broad application prospects of this underwater electric current fieldcommunication system on the bionic robotic fish.