<p>This paper focuses on the minimum-time trajectory planning for a hexarotor UAV operating in a structured environment. The proposed approach explicitly integrates both kinematic and dynamic constraints within the trajectory generation process, ensuring that the planned motion remains feasible while optimizing execution time. The constraints considered include obstacle avoidance, boundary conditions on position and orientation, velocity and acceleration limits, actuator force capacities, as well as the inherent underactuation of the hexarotor. The methodology is based on the Random Profile Approach, a versatile optimization scheme that efficiently handles various planning scenarios while ensuring constraint saturation. Compared to optimal control techniques, the proposed approach offers a more straightforward implementation while maintaining computational efficiency and solution quality. Simulation results demonstrate the effectiveness of the method, producing high-quality trajectories in reasonable computation times. The generated trajectories respect all system limitations, making them directly applicable to real-world missions.</p>