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Along with the strategies of opening low-altitude airspace, the UAVs will get out of the isolation of the airspace, and fly with diverse aerial vehicles. As the key technology of UAVs, autonomous anti-collision plays a important role in safe flying, especially in mixed airspace. By analyzing humans’ developmental anti-collision mechanism, the specific models and developmental models have been proposed in this paper, in order to construct UAVs’ anti-collision method based on humanlike development. The simulations illustrate that our method can not only improve the safety of UAVs in mixed airspace via learning, but also develop itself to avoid collision faster along with the familiarly of environment, which has improved the safety and intelligence of UAVs in mixed airspace with crowded threats.