Currently the use of quad-rotors that perform the navigation indoors requires large and stationary equipment such as the cameras, as well as a specific space to install these equipment and thus to track the position of the vehicle. Another disadvantage lies in the fact that the quad-rotor can only navigate in the space limited by this vision technology. This work proposes the use of an optical flow sensor and a LIDAR to develop an autonomous quadrotor, which is not confined to a fixed space, and is able to move freely recognizing the environment in which it moves.