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Biologically Inspired Robotics
FIGURE 5.7
Description of EU SHOAL project.
3D map
Internal world
Reasoning &
planning
Cognitive Layer
Behavior Layer
Swim Pattern Layer
Behaviors
coordination
parameters
Behavior
coordinator
Behavior l
•
•
•
•
•
•
Behavior n
Swim patterns
Underwater sonar
communication
Abstracted
states
Sensor
states
Sensor
raw
value
Swim pattern l
Servo motors
DC motors
Swim pattern n
Chemical
analysis
FIGURE 5.8
Control software architecture for SHOAL robotic fish.