A 3D path planning algorithm based on the improved artificial bee colony algorithm and a trajectory tracking control strategy based on linear active disturbance rejection control are proposed for the quadrotor, so as to improve its ability of autonomous flight in the city area. In practical applications, UAV's autonomous flight should take its flight dynamics into consideration. Firstly, the flight dynamical model of the quadrotor is deduced by using Newton-Euler equation. Meanwhile, the obstacle model and the cost function of the flight path are set up.Then, the artificial bee colony algorithm is introduced to deal with the 3D path planning of the quadrotor. The adaptive search strategy, a novel probability selection strategy and the cubic chaotic searching operator are adopted to improve the performance of the original algorithm. Lastly, the dynamical model of the quadrotor is divided into the position loop and the attitude loop according to the time scale principle, and the second-order linear active disturbance rejection controller is designed to realize its trajectory tracking. The simulation result indicates that the proposed method can work out a smooth path for the quadrotor, effectively compensate for external disturbances, and realize the steady control of state variables of each control loop.