Quadrotors are utilized in several military and civil applications. To improve the performance characteristics, their weight is desired to be kept at minimum. However, the battery which constitutes one of the major components of a quadrotor weighs more if its range is extended. When a moving destination point is considered as well, the power requirement becomes larger. Thus, a proper motion planning comes into the picture as a necessity for the quadrotor to reduce the total operation time and hence to lower the power consumption. In this study, a novel guidance-based motion planning scheme is proposed regarding two different guidance laws towards a moving land platform. Moreover, an effective two-stage control system is designed in a way compatible with the suggested guidance laws. The success of the constructed guidance and control algorithm is demonstrated by means of suitable computer simulations. Eventually, it is concluded that the linear homing guidance law leads to more satisfactory results than the other guidance approach utilized in this study, i.e. body pursuit guidance law.