Motion planning is a crucial topic with multi-UAV applications of search and rescue missions, transportation missions, etc. The concerns of motion planning focus on path planning and inter-UAV collision avoidance. Model based on Lyapunov present great solutions. However, setting reasonable parameters for the model is usually based on experience. Moreover, UAVs controlled by the models usually converge to destinations slowly. Heuristic planning algorithms are also mainstream approaches to guide UAVs. However, they hardly consider kinetics of UAVs. This paper proposes distributed velocity-aware algorithm and collision avoidance algorithm to serve motion planning of multiple UAVs. The velocity-aware algorithm generates paths with acceleration vectors that converge to the predefined destinations. The collision avoidance algorithm will be triggered to protect UAVs from collisions when path conflicts are predicted. Compared with hierarchical control model and Lyapunov-like control laws, our approach could improve success possibility of mission achievement for UAVs. At the same time, the algorithms help UAVs take shorter paths and less time to move to destinations safely.