This research reports two methods which used in controlling hexacopter, namely, avoiding objects with three colors of pattern and determining the shortest path. The obstacle object with three colors of pattern that has a dimension of 40 cm × 60 cm and placed on a pillar with a position of 1.5 meter above the floor. The obstacle that had been captured was saved in jpg format then registered on RGB-based image processing program. The image will be classified into 8 binary based on the intensity of color and projected against the floor. If the object was detected by a hexacopter camera when flown and matched with the objects that has registered on the program, the hexacopter will avoid the object. The position of the object that has projected was used for the program to determine the shortest path. The shortest path determination is represented on a 20 × 20 square-shaped floor box format, which the box has 32 × 24 pixel dimension. This process is using A (x, y) = B (x, y) + C (x, y) equation. B(x, y) stated the distance where the hexacopter moves to the starting point and the value of C stated the distance from the hexacopter position to the final point. The value of A (x, y) stated A sum of the two and look for the smallest value of the order to surrounding squares. The result of this research stated that the hexacopter were able to fly through the shortest way in order to avoid the objects with a success rate of about 70 % in a guided fly mode (waiting for a command from the computer).
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