The energy of waste can promote the sustainable development of the environment and the circular development of the economy. The "waste-energy-economy" coupling urban logistics collection and transportation system designed for the two stages of "collection point-transfer station" and "transfer station - power plant" is designed to realize the modern circulation of the concept of green and low-carbon cycle by saving the cost of environmental governance. Firstly, 128 community collection points, 18 transfer stations and 6 power plants were selected based on agent (ABM), and a three-level collection and transportation network was established to build a simulation model to analyze the carbon emission effect. Secondly, combined with ant colony fusion algorithm, the mixed integer model of multi-transfer center vehicle path planning is established to solve the vehicle path planning problem of the receiving and transportation system. Finally, the simulation model is verified by an example analysis. The conclusions are as follows: (1) The carbon emission of diesel vehicles, gasoline vehicles, ethanol gasoline vehicles, natural gas vehicles and pure electric vehicles in the whole process of municipal waste collection and transportation is lower than that of standard coal combustion. (2) The use of 3t electric vehicles in the "collection point-transfer station" phase and 8t gasoline vehicles in the "transfer station - power plant" phase can achieve the cost and carbon emission optimal targets. (3) The scheme is also valid when the urban traffic environment and the amount of garbage are uncertain.