Trajectory planning method and trajectory planning algorithm for an aerial vehicle

A controller configured with a trajectory planning algorithm (4) for determining a flight trajectory (FB) for an aerial vehicle (1) in a three-dimensional space from a starting point (VP1) to a finishing point (VP2), the controller is configured with:

• i) a first trajectory planning module (4.1), which carries out a first trajectory planning, confined to a first plane or area in the three-dimensional space, in order to obtain a first trajectory planning result with a first trajectory profile (BP1);
• ii) a second trajectory planning module (4.2), which carries out a second trajectory planning, confined to a second plane or area (SE), different from the first plane or area, in the three-dimensional space, in order to obtain a second trajectory planning result;
• and
• iii) a third trajectory planning module (4.3), which combines the first trajectory planning result and the second trajectory planning result to form an overall trajectory planning result for the flight trajectory (FB).