We propose a compact and high-range resolution 76GHz millimeter-wave radar system for autonomous unmanned helicopters. The purpose of the radar system is to detect and avoid obstacles that may affect the flight safety. To achieve these objectives, a high range resolution and a long detection range are required for the radar systems with small volume and weight. The radar broadband RF front-end module which employs a simple direct conversion method is proposed. The radar module enables the 6GHz RF signal transmission as well as the output power of about 8dBm using commercially available low-cost monolithic microwave integrated circuits. The radar system comprises the broadband RF front-end module, a Ku-band local frequency-modulated continuous wave signal synthesizer, and a very light weight carbon fiber reinforced plastic parabolic reflector antenna. The 5cm of range resolution is experimentally obtained using the 6GHz RF signal bandwidth. The results of the power line measurement confirm an about 23dB signal to noise ratio, which is measured from the reflection of the high-voltage power lines about 150m ahead. In addition, the results of the radar system on-board test using an unmanned helicopter are evaluated. The real-time radar scope, which is transferred through the wireless connection, confirms the detection of the power lines and the other surrounding objects.