Trajectory planning method and trajectory planning algorithm for an aerial vehicle

A trajectory planning method 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), in which a) a first trajectory planning, confined to a first plane or area in the three-dimensional space, is carried out in order to obtain a first trajectory planning result with a first trajectory profile (BP1); b) a second trajectory planning, confined to a second plane or area (SE), different from the first plane or area in the three-dimensional space, is carried out in order to obtain a second trajectory planning result; and c) the first trajectory planning result and the second trajectory planning result are combined to form an overall trajectory planning result for the flight trajectory (FB).