Aiming at the practical application requirements of quadrotor Unmanned Aerial Vehicle (UAV), the trajectory tracking control research is carried out. A Dubins trajectory planning method based on Rapidly-exploring Random Tree (RRT) algorithm is proposed, and a quadrotor model is built. A trajectory tracking control method is designed to perform trajectory tracking simulation on the proposed planned path. The RRT-Dubins algorithm uses the RRT algorithm to effectively plan the path of UAV in obstacle areas, and then uses the Dubins path to smooth the planned trajectory to form a flight path for UAVs. Simulation experiments show that the trajectory planning method and path proposed in the paper can better avoid obstacle areas, and the trajectory smoothing is more suitable for UAV flight. At the same time, the effectiveness of the proposed trajectory tracking control method is verified.