Control of a Free-swimming Fish Using Fuzzy Logic

—This paper describes a framework for animating and controlling articulated bodies in a fluid simulation. We illustrate this approach by simulating an autonomous fish in various situations. Our little animal tries to reach a goal while its movement interacts with the fluid. Several algorithms allow the fish to automatically control its locomotion while taking into account the changing fluid forces. Our method relies on the interactive calculation of the fluid-solid interaction forces, the correct update of the skinned body and a motion control strategy based on fuzzy logic. The proposed algorithms are adaptable to others techniques of body and fluid simulation, thus allowing us to generate a wide range of motions.