This repository hosts the Python and MATLAB simulation code for my final year thesis titled "Multiplayer Target Defense Game Between Quadrotors: Use Case Studies". It explores a defense game scenario with two defenders and a faster intruder drone, with annotated code and organization derived from Dr. Fu's paper "Optimal Solution of a Target Defense Game with Two defenders and a Faster Intruder".
Thesis-research
│ README.md - Main documentation file explaining the repository content.
│ Thesis_Final_Report.pdf - The final report document for the thesis.
│ Thesis_Presentation.pdf - Presentation slides for the thesis.
└───Matlab
│ Animation - Contains animation scripts for visualizing the simulation.
│ Block_Diagram - Diagrams showing the block-based structure of the MATLAB simulation.
│ Illustration - Illustrative figures representing simulation concepts.
│ Monte_Carlo_Data - Data from Monte Carlo simulations.
│ Simulink - Simulink models for the MATLAB-based simulation.
│ Trajectory - Plots related to the trajectory.
│ BaseModel.m - MATLAB script for the base model of the simulation.
│ Model_APF.m - MATLAB script implementing the Artifical Potential Field model.
│ Model_PNG.m - MATLAB script for Proportional Navigation Guidance (PNG) model.
│ Monte_Carlo.m - Script for running Monte Carlo simulations.
│ Prediction_Interception.m - Script for predicting interception method.
└───Python
│ animator.py - Generates animations.
│ Config.py - Contains configuration settings for the simulation.
│ envelope.py - Define functions for generating trajectory plot.
│ one_plot.py - Generates a single plot of trajectory.
│ opttraj.py - Visualizes optimal trajectories with two defender and one intruder.
│ overall_plot.py - Produces a plot contains all optimal trajectories.
│ RK4.py - Implements the fourth-order Runge-Kutta method for numerical integration.
│ Sector_Draw.py - Adding sectors indicating defender range.
│ traj_generator.py - Creates trajectories based on different initial position.
│ vecgram.py - Define functions for generating vectograms.
│ someData.csv - Data output from simulation runs for analysis
│ switch.csv - Data defining switching strategies in the simulation
│ res - Data output from envelope_barrier from enevlope.py
The Python code simulates the target defense game in a two-dimensional space where the defenders' objective is to intercept the intruder before it reaches the target area. Optimal trajectories are computed and visualized.
- Python 3.x
- Matplotlib
- Numpy
- Scipy
Navigate to the Python directory and run the desired script. For example:
cd Python
python one_plot.pyThis will execute the simulation and save trajectory plots in the Figures directory.
The MATLAB simulation utilizes a block diagram approach to model the dynamics of the game, simulating the movements of the defenders and the intruder over time.
- MATLAB R2021a or later
In MATLAB, navigate to the Matlab directory and open the desired model or script:
cd Matlab
open('BaseModel.m')This will execute the simulation, and the results can be visualized in MATLAB's Simulink environment.
The 'Thesis_Final_Report.pdf' provides a comprehensive report on the entire project, detailing the research, methodology, and findings. The 'Thesis_Presentation.pdf' contains the slides used during the thesis defense, offering a succinct overview of the project. report