This paper presents a novel path planning method for mobile robots in complex and dynamic environments using Voronoi diagram (VD) and computation geometry technique (CGT) termed. VD-CGT. An algorithm to categorize moving obstacles based on their positions. velocities. https://www.spidertattooz.com/OPI-GelColor-The-Color-That-Keeps-On-Giving-0-5-oz-HPJ07-p22791/