In scenarios involving autonomous robot motion and target tracking, the presence of dynamic obstacles can pose a threat to real-time planning. Therefore, generating a safe path to ensure that robots do not collide with dynamic obstacles becomes paramount. In this study, we propose an improved dynamic window approach (DWA) algorithm based on the concept of velocity obstacles (VO). By considering the velocity of obstacles, we calculate obstacle-based danger zones and use them for DWA node selection to eliminate infeasible paths. Additionally, we introduce an artificial potential field as an evaluation function to select the optimal nodes, ensuring collision avoidance with dynamic obstacles and quick attainment of the desired target point. Results indicate that the proposed DWA-VO algorithm exhibits higher success rates and superior planning quality in dynamic environments compared to traditional DWA algorithms.