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Trajectory planning is an intensively researched topic in the fields of robotics, artificial intelligence, and aerospace. Pre-mission trajectory planning is considered a rather difficult optimization problem because it requires the ability to create routes in a multi-obstacle environment. The objective of this paper is to design a path planner using a solution based on Mixed Integer Linear Programming, that solves quickly and produces a safe but not very rigid trajectory from the start point to the end point, in a constrained 3D environment.