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In this paper we present a methodology based on a variation of the spatial pythagorean hodograph curves to generate smooth feasible paths for autonomous vehicles in three-dimensional space under the restriction of limited climb angles. An fast iterative algorithm is used to calculate the curve. The generated path satisfy three main angular constraints given by the vehicle: (i) maximum curvature, (ii) maximum torsion and (iii) maximum climb (or dive). A path is considered feasible if these kinematic constraints are not violated. The smoothness vehicle's acceleration profile is indirectly guaranteed between two points. The proposed methodology is applicable to vehicles that move in three-dimensional environments, and that can be modeled by the constraints considered here. We show results for small aerial vehicle.