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In recent years, much research has been conducted on path replanning in a dynamic environment, as it is considered to be a more complex problem than path planning in a static environment. However, with respect to determining when to replan a path, most research on dynamic path replanning typically generates a new path if obstacles collide with the current path, or with reference to each time unit interval. As these approaches do not focus on effective path regeneration, they result in redundant and unnecessary path regeneration. In this context, this paper proposes an intelligent decision-making mechanism for path regeneration to determine whether a new path should be generated when obstacles move over time. Based on the identification of certain important obstacles, we let these obstacles propagate influence, and then obtain path values that represent the distance between the obstacles and the path …