This paper presents a methodology to include obstacles moving with uncertainty in path planning algorithms. Around each moving obstacle, a collision-zone is defined indicating a high collision likelihood space. These zones are treated as stationary obstacles providing the input to a path planning algorithm. Samples of moving obstacles' positions are assumed to be available. Three models of motion for moving obstacles are considered: 1) obstacles moving randomly, 2) obstacles whose motion is structured but consists of random parameters, 3) obstacles whose motion is predictable as a function of time. Simulation examples yielding collision-zones are presented.