Figure 22. Angular
steps of an animat.
When the angular steps " and $ are equal, the animat follows a straight trajectory.
The motor system receives signals from BeCA through the actuators, and can execute
the next behaviours: wander, explore, approach (to different stimuli), eat, drink, rest, runaway
(from different stimuli), and the reflex behaviour avoid obstacle.
5.3.4. The behaviours repertoire
Each animat has a behaviours repertoire. This is the set of behaviours that BeCA is able
to select depending on the internal state and on the perceptions. Table 2 shows the external and
internal signals required by each behaviour.
66
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