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Control of autonomous robots (ARs) is a hot topic over the past three decades, and motion planning is becoming one of the major challenges in AR control. Substantial works have been done for motion planning in 2-dimensional (2D) environments, but planning in 3D complex environments is still an open problem to be investigated. In this paper, we propose a trajectory planning method to plan a high-quality and safe trajectory in 3-dimensional (3D) environments with multiple obstacles. The proposed method is based on the integration of a global optimal 3D path planner with a local planner. First, a hierarchical path planning algorithm is used as a global path planner to compute a near-optimal path formed by a set of waypoints. Second, a local path trajectory planner is designed to track the path computed by the global path planner with multiple constraints of dynamics and environment satisfied. Finally …