  This paper examines the influence of initial guesses on trajectory planning
for Unmanned Aerial Vehicles (UAVs) formulated in terms of Optimal Control
Problem (OCP). The OCP is solved numerically using the Pseudospectral
collocation method. Our approach leverages a path identified through Lazy
Theta* and incorporates known constraints and a model of the UAV's behavior for
the initial guess. Our findings indicate that a suitable initial guess has a
beneficial influence on the planned trajectory. They also suggest promising
directions for future research.
