Robot Control Using an Underwater Acoustic Modem

Underwater sensor network (USN) enables various services implemented over terrestrial wireless sensor network previously and underwater robot control service is one of the applications of USN. For wirelessly controlling an underwater robot, development of an underwater acoustic modem for transmitting robot control frame as well as analysis of the robot control protocol should be carried out properly. In this paper, we have developed an underwater modem suitable for underwater robot control and designed a protocol to handle the robot. We have also verified the robot control system by experimenting in an underwater environment.