Path planning for unmanned aerial vehicles (UAVs) helps UAVs to efficiently avoid obstacles and arrive at their target. This article proposes a real-time path planning method based on a tangent intersection and target guidance strategy in the presence of moving obstacles to generate high-quality paths free from obstacle collision for UAVs. The elliptic tangent graph approach is used to construct two sub-paths while being guided by a target. When coming across an obstacle, one of the sub-paths is chosen using heuristic methods. The UAV follows the chosen sub-path and continuously modifies its course to avoid obstacles until the collision-free path reaches the target. This algorithm determines the UAV's escape velocity during the obstacle avoidance period using the relative velocity of the obstacle in real time. This makes it possible for the UAV to recognise and avoid any obstacles whether they are static or moving, in real time. Compared with previously developed “autonomous path planning based on tangent intersection and target guidance” algorithm, RPPATTM algorithm not only plans path for dynamic popup obstacles but also for an environment having moving obstacles. Specifically this algorithm takes less than 0.1 milliseconds to plan optimal path in dense obstacles of 100 meter by 100 meter in an obstacle of different size. Moreover RPPATTM algorithm can identify and avoid obstacles of any shape and size easily during path planning. Keyword – Elliptic tangent graph, target guidance, UAV, path planning, moving obstacle avoidance.