This paper presents a novel approach for the problem of tracking a moving target in a dynamic environment. the robot has to move such that it keeps the target visible for the longest time possible while avoiding collision with moving obstacles. the solution consists of three interacting components which perfrom: tracking, collision avoidance and motion selection for collision avoidance, an adaptive collision risk value is computed. this risk represents the likelihood of the pursuer colliding with any of the moving obstacles using the occluding and collision risks, the decision maker decides on the next safe move. exprimental results confirmed the robustness of the proposed a algorithm for tracking in a dynamic anvironment amidst obstacles.