Robots working in proximity of humans often need to change their motion to avoid collisions and interference with the operators. This paper uses a path re-planning approach to change the robot path online when the human operator is in the robot way. The method exploits a set of pre-computed paths to compute a new feasible path in case of obstruction to enhance the trajectory's readability. Moreover, the algorithm iteratively optimizes the current solution in an anytime fashion to deal with strict computing time requirements. Experimental results show the method's effectiveness in a collaborative cell, compared with industry best practices.