  This paper presents the application of the Rapidly-exploring Random Tree Star
(RRT*) algorithm for multicopter collision avoidance in photogrammetry
missions. For better applicability, the presented algorithm redirects the drone
onto a predefined mission's path. The experiments are conducted in the
simulation software gazebo utilizing a ROS interface to the widely known
autopilot software PX4. For obstacle detection, a simulated Intel D435 stereo
camera is used. The experiments include two different scenarios, each conducted
with two different maximum velocities. The results show that the probabilistic
RRT*-algorithm can avoid obstacles successfully and intelligibly even at speeds
up to 6 m/s. The main problems persist in the dynamic behavior, the inertia of
the multicopter, and the limitations of the sensor technology.
