迅速壁障前进，分为三种情况讨论，可以快速简单的解决壁障问题-Obstacle avoidance is one of the most challenging problems for the topic of UAV indoor navigation. In

this paper, an indoor obstacle avoidance strategy based on Scanning Laser Range Finder (SLRF) is developed, so

that high-level flight commands and flight paths can be generated for an unmanned coaxial rotorcraft in real time.

The developed strategy comprises three flight modes including hovering turn, forward flight and gate exploration.

During flight, the UAV can switch from one mode to another in the presence of obstacles according to the analysis

of SLRF measurements. Both simulations and real experiments have been conducted to validate the proposed

strategy. The test results have successfully demonstrated that the method is feasible and effective.