Hybrid-Artificial-Potential-Fields-Algorithm The code outputs V_x, V_y and time duration which should be passed to the pixhawk flight controller We have used an optical flow sensor with sonar (px4flow) in the place of gps for position estimation We have used a rotation lidar to form a map of the surroundings in every time step THIS CODE CAN BE USED FOR COMPLETE 360 degree INDOOR OBSTACLE AVOIDANCE Please check the dronekit documentation to set the optical flow sensor up with the flight controller(pixhawk) using mission planner tool for rplidar - https://github.com/Slamtec/rplidar_sdk/releases