The invention discloses a quadrotor autonomous obstacle-avoidance unmanned aerial vehicle (UAV) in an urban community environment. The quadrotor autonomous obstacle-avoidance UAV includes an airbornesystem platform, a ground station platform, a data transmission link, an urban community environment model and an intelligent three-dimensional path planning algorithm module based on the urban community environment model. Aimed at the urban community building environment model, by integrating a binocular CCD, a 2D lidar, an ultrasonic radar, an airborne IMU, a GPS and other perceptual detection,positioning navigation sensors, and through a UAV three-dimensional obstacle-avoidance path planning method based on intelligent computing, the invention designs and implements a quadrotor obstacle-avoidance UAV platform based on binocular vision and laser radar data airborne real-time online processing, which can meet the requirements of autonomous obstacle-avoidance flight of the UAV in the urban community environment space and lays a solid foundation for a wide range of applications of intelligentized UAVs to the anti-terrorism, street fighting, battlefield intelligence detection, parcel delivery, power inspection, disaster inspection, natural environment remote sensing and the like.