In recent, autonomous navigation techniques to avoid obstacles have been studied by using unmanned aircraft vehicles(UAVs) since the increment of UAV's interest and utilization. Particularly, autonomous navigation based UAVs are utilized in several areas such as military, police, media, and so on. However, there are still some problems to avoid obstacle when UVAs perform autonomous navigation. For instance, the UAV can not forward in the corner of corridors even though it utilizes the improved vanish point algorithm that makes an autonomous navigation system. Therefore, in this paper, we propose an obstacle avoidance technique based on immune algorithm for autonomous navigation of Quadrotor. The proposed algorithm is consisted of two steps such as 1) single color discrimination and 2) multiple color discrimination. According to the result of experiments, we can solve the previous problem of the improved vanish point algorithm and improve the performance of autonomous navigation of Quadrotor.