Path planning refers to the creation of obstacle free path from the starting point to the goal point. There are many methods of path planning for the Unmanned Aerial Vehicle (UAV) such as A-Star, Rapidly Exploring Random Trees (RRT), Genetic Algorithm (GA), and so on. Rapidly Exploring Random Trees (RRT) builds trees for the path planning is in all the direction which lead to consumption of more energy and time. Since, the computation time taken in this algorithm to find the path is more, thus it deteriorates the performance of UAV. In this paper, “A Corner-RRT Algorithm” is proposed to generate obstacle free path for UAV. Here, the tree explores only in the direction of either goal point or nearest corner of the goal which reduces the computation time of the UAV. Several simulations have been performed using the proposed “Corner-RRT Algorithm” in different environments to check the computation time of UAV. Furthermore, this algorithm is evaluated against the Classical RRT to demonstrate its effectiveness. It has been observed that the proposed ‘Corner-RRT Algorithm’ requires approximately 30% less computational time compared to the Classical RRT algorithm.