In this paper,an improved limit-cycle navigation method integrated with the potential field approach is proposed. Firstly,the complex navigation requirements,such as movement strategy and speed estimation appearing in the robot soccer,are transformed into virtual obstacles by analysis of the potential field. Then,the limit-cycle navigation is applied to them for a dynamic route planning by adjusting the radius of the limit-cycle. The route planning method enables a robot to avoid high-speed moving obstacles smoothly and reach desired destination with complex requirements. The effectiveness of the proposed method is proved by simulations and experiments in the robot soccer competition.