I have a cat and she loves me and wants to be as close to me as possible. She probably gets the boot about 30 times per day, but she keeps coming back for more. Chances are, your animal is fine. She's just getting out of your way, which is pretty rational.

I have a guide dog. While I am very careful at home, she loves to follow me around and will often 'appear' right behind me when I wasn't expecting her. Dogs are forgiving creatures; I believe they can tell when someone has maliciously hurt them vs. an accident of being tripped over. (They can also be sneaky manipulative attention-getters, haha. If you act overly repentant and lovey after tripping over them they can actually learn to respond in a cringing manner as you describe to get that attention!)

One of the things I learned in vision therapy is that I need to slow down and look around/scan a space before plowing onwards à la "look before you leap." It makes me feel awfully conspicuous in public spaces, but I try to remember that most of the time no one is paying that much attention to me or cares all that much. It sounds like a mobility aid could be useful for you as well if you haven't looked into them yet.

Can you feel around before you move or move at a slower pace. Maybe use a cane for this reason around your house?

We have a cat, and he likes meowing at me to let me know where he is while I'm walking around the house. I developed a sweeping footstep where if I know he's around, I do a little more of a foot slide to nudge him out of the way, especially in times where he thinks I'm feeding him and he gets all excited and tries sticking to my legs. Other times, he picks a dumb place to lay down and I do step on him, or he runs across my path and gets broadsided by my shin as I'm walking, but he's resilient. You just have to be more aware of where they are, listening for breathing, movement, and also just accepting that all pets will get underfoot for all owners, sighted or not. If I'm unsure where our cat is, I'll call out his name and he responds, so you could try that before moving about if your dog responds.

I have a guide dog and something my trainer always told me was how forgiving dogs are. Sometimes when traveling with my dog, I would incorrectly scold her because I thought she was doing something wrong, only to find out she was keeping me safe. Of course I would feel bad afterward, but dogs can just tell if it was on purpose or not. And yeah, I trip over my dog sometimes as well, but if anything she's learned to stay in areas that I don't walk lol.

I'm blind and I care for animals and have many in my home, I also have a guide dog. My cane can help sometimes if I'm worried. Do you live with people ? You could ask them to warn you if she gets in your path. Moving her bedding away from any area of the house you tend to be walking around in and/or calling her over and petting her first may be helpful because you will know where she is. If you run into her make sure to get down to her level and show her that you aren't a threat and remedy her anxiety with positive reinforcement.