diff --git a/README.md b/README.md
index 8fdaaed..ac8add2 100644
--- a/README.md
+++ b/README.md
@@ -51,8 +51,13 @@ roslaunch oscillation_ctrl oscillation_damp_circle.launch
 You can run the demo that uses the acceleration topic to control spiri using the command:
 roslaunch oscillation_ctrl spiri_circle_acceleration.launch
 
-There is also a launch file that corresponds to straight line flight. To run this file, use the command:
+There is a launch file that corresponds to straight line flight. To run this file, use the command:
 roslaunch oscillation_ctrl spiri_straight_line.launch
 
 There are also two optional parameters that work on all demos. Like oscilattion_damp.launch, there is an option to change the model. You can do so by adding model:=model name, replacing model name with of spiri, spiri_with_tether, headless_spiri_with_tether.
-There is also an option to also start a turtlesim node, and a turtle_test node, which will create a turtlesim window with a turtle that maps the two dimensional movements of the drone. This will allow you to see if the drone deviates from a circular path. To enable this option, add turtle:=true to the end of your launch command.
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+There is also an option to also start a turtlesim node, and a turtle_test node, which will create a turtlesim window with a turtle that maps the two dimensional movements of the drone. This will allow you to see if the drone deviates from a circular path. To enable this option, add turtle:=true to the end of your launch command.
+
+Finally, there is a launch file that corresponds to the obstacle avoidance demos. To run this file, use the command:
+roslaunch oscillation_ctrl obstacle_avoidance.launch
+
+Like the other launch files, there are the model and turtle optional parameters. You can additionally change the walls you want spiri to avoid. You do so in the obstacle_test.py file. Near the bottom, there will be a variable called wall_lines. This variable can be modified to add or remove lines. Each element of the list is a line. Each line is a tuple of the form ([m,b],lower bound, upper bound), where the line is defined by the equation y=mx+b, and exists for lower bound<x<upper bound. If you are making changes to this file, you can either make them in the oscillation_ctrl package, or you can make them in the local directory you have for this git page, and then run setup.bash again.
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