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It is possible for a planet's orbit to change. This can be caused by changes in the gravitational pull of the star it orbits. The force of gravity that an object has depends on its mass. Since stars are powered by nuclear fusion, they slowly decrease in mass as more and more particles are converted into energy. This causes its gravitation to weaken over time. This can make the orbits of the surrounding planets bigger. Other possibilities of a planet changing orbit is if it gets impacted by a very large astreroid or another large object. In either case, the chances of a planet moving to another system entirely is rare. That would reqire the planet to leave the star's gravitational pull completly and make its way to another star system.