Electrode size affects underwater electric current communication between two fish models

Underwater communication is challenging for small underwater robots that have stringent power and size constraints. In our previous work, we have demonstrated that electric current communication is an alternative method for small underwater robot communication. This paper studies how electrode size affects the electric current communication between two fish models. First, the working principle of electric current communication is explained by a simplified electric dipole model. After that, systematic design of the electric current communication system is proposed for small underwater robots. The communication experiments are conducted between two fish models with different sizes of transmitting and receiving electrodes. The results reveal that both the smaller transmitting electrodes and the larger receiving electrodes can improve the communication distance, and that the electrode size almost does not change the error angle distribution of the communication.