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Aiming at the movable characteristics of the target and obstacles in the working environment of the automatic following trolley, a path planning method with dynamic prediction is proposed based on the traditional artificial potential field method. The position relationship between the trolley, target and obstacles is predicted through the real-time acquisition and calculate of distance, velocity and direction. According to the prediction target position, the path to the target is determined by using the artificial potential field method and according to the prediction of the obstacle path, the bypass path is determined. The path prediction artificial potential field method is compared with the traditional artificial potential field method. The results show that this method has significant improvement in following efficiency and avoid obstacle ability.