An improved method for path planning of robots is proposed for use in complex and dynamic environment with randomly moving obstacles.In order to avoid obstacle safely without too much circuities, a new rule is used for avoiding randomly moving obstacles with consideration of the relative position and velocity between the robot and obstacles.To the object moving with uniformly variable speed, an improved artificial potential method is adopted with consideration of the relative velocity and acceleration, which can help the robot to keep pace with the object.The simulation results based on Matlab platform show the effectiveness of the algorithm.