Multirotor aerial vehicles are commonly used today, with applications ranging from product delivery to defense systems. These devices are often a complex interlink of various components and must be controlled manually by an experienced pilot using a radio controlled transmitter; issuing flight commands to the copter. Furthermore, current drone systems do not commercially offer a platform for automatic obstacle avoidance. The concept proposed in this thesis is an Unmanned Aerial Vehicle system that is capable of travelling a set of way points without any manual guidance. This eliminates the...