The autonomous collision avoidance problem of Unmanned Aerial Vehicle (UAV) against non-cooperative dynamic obstacles is studied, including the decision making and control.First of all, the autonomous collision avoidance problem is described, and it is divided into two parts of collision prediction and avoidance control.Then, the rules of the collision prediction are defined, and a three-dimensional algorithm is proposed for dynamic collision prediction based on the two-dimensional collision prediction.The collision avoidance strategies are designed finally by using the optimization theory.Simulation results demonstrate the validity of the proposed method.