An escape behavior algorithm for quadrotor aircraft is proposed，which can decrease the possibility of collision of unmanned helicopters with dynamic obstacles. The models of the quadrotor movement and the constraints are given by relative localization of swarm particles. The controller for the real model of the quadrotor is designed and it calculates the speed of each propeller of quadrotors according to a prescribed trajectory. The functionality of this algorithm is testified by using simulations and testing on a flying vehicle platform—Parrot AR.Drone.