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With the wider application of unmanned aerial vehicle (UAV) inspection methods, obstacle detection and avoidance are becoming more and more important. If the UAV hits a tower or a line, it will not only cause its own damage, but also affect the electricity consumption of the residents, and also cause troubles for maintenance. Millimeter-wave radar, laser radar, and binocular stereo vision sensors are widely used in robot obstacle avoidance. But based on the actual conditions of multi-rotor UAVs for transmission line inspection, the model selection, size, weight, the integration of obstacle information and flight control are particularly important. The multi-rotor UAV equipped with millimeter-wave radar and binocular stereo vision and Differential GPS were studied. Multi-sensor fusion method was used to detect obstacles, and virtual force field method (VFF) was used for track replanning, and conducting a flight test. The test result shows that this method has a good application effect on obstacle avoidance of towers.