The 46-year-old singer was left devastated when the 22 year old passed away after spending nearly six months in a medically-induced coma. Bobbi Kristina had originally been found face down and unresponsive in a bathtub at her home in Roswell, Georgia on 31 January (15), and despite her passing, Bobby still feels close to his little girl.

"I've gained another angel to carry me through," he tells America's WBLS radio host Deja Vu. "I'm really blessed with my children and everything that I have to do is about that. It's about love. I have a lot of love around me and have a lot of love that I give. It's about that."

As well as Bobbi Kristina, his only daughter from his marriage to the late Whitney Houston, Bobby also has Landon, with former girlfriend Melika Williams, and daughter LaPrincia and son Robert, Jr. from his relationship with Kim Ward.

The singer and his wife Alicia Etheredge welcomed daughter Bodhi Jameson Rein Brown in July (15), just days before Bobbi Kristina's passing. The couple also has a son, named Cassius.

His large family helped Bobby through his grief and he has also found writing his memoir extremely therapeutic.

"We've been working hard on it and I'm just trying to get all the cobwebs out and trying to be as honest as possible," he continued. "My story is really deep, but it's funny and it's a whole bunch of things. You can find humour in it. I can because I lived it. But you can also find some sad parts and some crazy parts, but at the same time it's still Bobby.

"From my memoirs I'm doing a script for my movie, so hopefully you'll see me on the screen really soon."

The book My Prerogative will hit shelves in June, 2016.