This thesis presents a dynamically feasible and real-time trajectory path generation algorithm for unmanned aerial vehicles (UAVs) flying through a sequence of a random N number of waypoints (WPs) in three dimensions. Pontryagin’s minimum principle was used to show that the straight-line path segments connecting the sequence of waypoints are time optimal [1]. An algorithm was designed so that the total trajectory path length of a UAV is approximately equal to the straight-line path of the waypoints. The trajectory path obtained was also compared with the one-circle method, and it was found that the proposed method has less path length. Issues related to this algorithm are explained in detail. Simulation results show the efficiency of the method.