摘要
水下机器人由于工作环境的特殊性,导致其通信困难.文章首先设计一套水下电场通信系统,并且将此通信系统集成到仿生机器鱼上.值得注意的是,它解决了多个水下机器人在传统的的通信方式下不能正常通信的问题.其次,针对电流场的物理特性设计了一系列的实验来验证理论的可行性,引入误码率(BER)来评估通信系统的稳定性.最后,通过外部发射装置并应用水下电场通信系统来控制机器鱼的各种游动模态.该通信系统在水下机器人的近距离通信中有很好的应用前景.
Due to the particular work environment of the robotic fish, it is difficult for them to communicate with others underwater. In this paper, an underwater elec- tric current communication system which is integrated into the bionic robotic fish is developed firstly. It is worth noting that it solves the problem that several underwa- ter robots can＇t communicate with others in short distance by the way of traditional communication. Secondly, series of experiments are designed to verify the feasibility of the theories aiming at the physical characteristics of the current field, and the bit error rate （BER） is adopted to evaluate the stability of the communication system. Finally, the underwater electric current communication system is successfully used to control the different swimming modal through the external transmitting device. This communication system has a broad application prospect in the short distance communication of underwater robots.
出处
《系统科学与数学》
CSCD
北大核心
2015年第4期439-448,共10页
Journal of Systems Science and Mathematical Sciences
基金
国家自然科学基金(51375323
61164014)
苏州科技学院科研基金(XKZ201409)资助课题
关键词
电流场
水下电场通信
机器鱼
误码率
Current field, underwater electric current communication, robotic fish,bit error rate.
