Summary of the equations governing the default controller (i.e boxes 5–7 in Fig 3).

Line 2: The speed of the bat Vbat is set as a function F of the distance to the nearest obstacle dmin (using the curve depicted in Fig 1a). Next (lines 3–14), the speed Vbat is used to set the rotations of the bat in azimuth (Δϕ) and elevation (Δθ). The sign of the azimuth rotation depends on the relative strength of the echoes at the left (gl) and the right ear (gr) as given by Eq (3). The sign of the elevation rotation depends on whether the ear with the weakest echo is pointing up or down.

第2行：将蝙蝠的飞行速度Vbat设定为到最近障碍物的距离dmin的函数F（采用图1a所示的曲线）。接下来（第3至14行），利用蝙蝠的飞行速度Vbat来设置蝙蝠在方位角（azimuth）与仰角（elevation）方向的旋转量Δϕ和Δθ。方位角旋转的符号由左耳（gl）与右耳（gr）的回声相对强度决定，具体如公式(3)所示。仰角旋转的符号则取决于回声最弱的耳朵是朝上还是朝下。