A computational sensorimotor model of bat echolocation

A computational sensorimotor model of target capture behavior by the echolo cating bat, Eptesicus fuscus, was developed to understand the detection, lo calization, tracking, and interception of insect prey in a biological sonar system. This model incorporated acoustics, target localization processes, flight aerodynamics, and target capture planning to produce model trajector ies replicating those observed in behavioral insect capture trials. Estimat es of target range were based on echo delay, azimuth on the relative intens ity of the echo at the two ears, and elevation on the spectral pattern of t he sonar return in a match/mismatch process. Flapping flight aerodynamics w as used to produce realistic model trajectories. Localization in all three spatial dimensions proved necessary to control target tracking and intercep tion for an adequate model of insect capture behavior by echolocating bats. Target capture using maneuvering flight was generally successful when the model's path was controlled by a planning process that made use of an antic ipatory internal simulation, while simple homing was successful only for ta rgets directly ahead of the model bat. (C) 2001 Acoustical Society of Ameri ca.