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In order to solve the problem of obstacle avoidance of the multicopter,an obstacle avoidance system is studied based on autonomous flight of laser radar vehicle, which can realize the real-time obstacle avoidance for autonomous flight of the multicopter. According to avoid the static or low speed obstacle, an improved potential field algorithm is proposed, which considers the attitude angle, velocity and acceleration of the multicopter and runs in the Robot Operating System (ROS). This algorithm plays the important role in the obstacle avoidance system, as it can generate the flight control commands for the flight control system to complete obstacle. Then in order to work in normal light environment, a laser radar interference optimization of the obstacle avoidance system is also studied in the paper in detail. At last, a large number of experiments are carried out. The results show that the proposed obstacle avoidance system can quickly avoid the obstacle in the range of 6 meters with the low computational cost.