Abstract: According to the characteristics of complex operating environment of urban UAV, aiming at the problem of three-dimensional space path planning, a path planning scheme of urban UAV is proposed based on chaotic particle swarm optimization algorithm. Firstly, a three-dimensional urban environment model was constructed by using GIS to obtain relevant urban information. Then, as for the pseudo randomness problem of PSO particle swarm optimization algorithm, the Zaslavskii chaotic sequence was utilized to generate random numbers. By constructing three fitness functions for the economic benefits of urban drone path planning, flight altitude, and obstacle avoidance, the parameters of the PSO particle swarm optimization algorithm and function were adjusted. Simulation application research were carried out in Tianjin. The results show that the proposed method has superiority over traditional PSO particle swarm optimization algorithm.