This paper describes a planning algorithm based on airborne for UAV to track and intercept moving target in the presence of dynamic obstacles and considering the maneuvering characteristics of the Unmanned Aerial Vehicle (UAV).In the context of ensuring airborne sensor (camera) to keep track of the target,the approach can generate time-optimal speed commands for UAV in dynamic environment to intercept the target after discovering it.By filtering the velocity instruction and considering the acceleration performance to generate reachable velocity commands.Assumption of this method is that the coordinates of the UAV and the coordinates of moving targets and obstacles in the range of airborne sensors can be obtained in real time.Extensive simulation and experimental result show that this method can effectively ensure the moving target tracking and interception in dynamic environment.