This paper proposes a new trajectory generationmethod that allows full control of transient behavior, namely,time-to-target and velocity profile, based on the artificial potentialfield approach for a real-time motion planning problem of robots.Little attention, in fact, has been paid to the temporal aspects ofthis class of path planning methods. The ability to control themotion time to the target as well as the velocity profile of thegenerated trajectories, however, is of great interest in real-lifeapplications. In the paper, we argue that such transient behaviorshould be taken into account within the framework of the artificialpotential field approach.