In the environment with unknown dynamic obstacle moving and target point, the radius of the repulsive force is often larger than the radius of the obstacle when the path is planned by the artificial potential field method, which leads to the collision of the dynamic obstacle with the robot. An improved dynamic path planning strategy of artificial potential field based on Morphine algorithm and non-completely waiting strategy was proposed. The non-completely waiting strategy was adopted when the dynamic obstacle collided with the robot on a side. The Morphine algorithm was used to localize the path when the dynamic obstacle collided with the robot face to face. Moreover, the rolling window theory was introduced to improve the accuracy of avoiding dynamic obstacles. Through the simulation tests, compared with the traditional artificial potential field, the proposed algorithm is shortened by 12 steps in the event of a side collision and 6 steps in the event of a face-to-face collision. Therefore, the improved algorithm is more effective in path smoothness and planning steps.