Multi-target real-time path planning (MTRT) is an extension of path planning that aims to traverse multiple targets in an unknown environment at the lowest cost. The MTRT is gov-erned by the “multi-target” demand leading to a rather extensive search space and the “real-time” requirement that imposes fast planning. However, the traditional path planning algorithm A* is notoriously inefficient in large spaces. Therefore, spurred by the low efficiency of A* for MTRT, this paper proposes the double adaptive A algorithm (DAA), which implements an adaptive multi-target heuristic function and an adaptive node expansion method to accelerate planning. The suggested method is evaluated utilizing two approaches to establishing the search space, i.e., decompose MTRT into traditional path planning problems and involve one target at a time, and consider all unsearched targets while planning. Simulations in discrete grid maps demonstrate that DAA provides at least equivalent searching paths to A* and other algorithms, but at much less running time.