Future micro aerial vehicles (MAVs) will have missions occur within and around buildings. This paper describes a vision-based navigation of a very light fixed wing aircraft in flight between obstacles. A geometrical method has been proposed to model the optical flow measurement process using the camera perspective model, the flight equations and the scene geometry. The optical flow information are used to detect the obstacles and perform turn maneuvers based on the balance strategy. The flight of an aircraft in a corridor which encounters a 3-way junction was simulated. The effect of the ways width ratio and the cameras' field of view angles on the aircraft navigation behavior at the junction are presented. The six DOF equations and complete aerodynamic data were used in aircraft flight simulations.
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