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In order to improve smoothness of task trajectories,this paper describe algorithms to generate smooth-optimal trajectories based on the differential flatness of quadrotor.B-spline is used to parameterize the selected flat outputs,and the dynamic constraints or kinematical constraints on quadrotor are transferred to the control point constraints of B-spline.The trajectory generation is then considered an optimal control problem by adopting the integral of squared jerk.And then the optimal solution is solved by transforming the optimal control problem into a nonlinear programming problem.At last the smoothness-optimal trajectories are generated.Simulation results show that,this method can smooth out movements and minimize the accumulative jerk which can decrease trajectory tracking errors effectively.