Nowadays, the development of autonomous miniature mobile vehicles has been in the focus of researchers. Therefore, more atttention is directed to the quadrotor helicopter design. This type of aerial vehicle is complex in controll technology respect, so worth to create a simulation environment that allows you to check a control method, before using that for real helicopter. This is important to minimize possible damage caused by falls. This thesis demonstartes a simulation environment and a specific collision avoidance algorithm which have been developed and realized for a miniature quadrotor helicopter. Some well-known path planning algorithms will be briefly demonstrated, the currently used will be specified. The thesis explains the construction of modular simulation framework, the functions and properties of all modules, the test results. Finally, development and modification options based on this system will be mentioned.