Method for correcting a movement trajectory in a movement assistance device (DADP) for at least one person, said movement assistance device (DADP) being driven by at least one motor and directed by a steering control module (DCTRL), according to a first rotational speed and a first translational speed, which are determined according to one or more directives (DCTRL, VCTRL) received by means of an input interface (CTRL-IN), said speed values (V1, 1) constituting the coordinates of a command point in a movement coordinate system, said movement assistance device (DADP) being equipped with at least one sensor device (USCAP) and a control unit, said sensor device (USCAP) being configured such that it performs a measurement in a defined direction relative to the movement axis of said movement assistance device (DADP), said method comprising a step of measuring a distance (s) between said at least one sensor (USCAP) or a predetermined point of said movement assistance device (DADP) and an obstacle present in said direction, and said method being characterised in that it comprises the steps of: - separating, in particular according to said distance (s) measured, said coordinate system, representing pairs (C V11) of said values of translational speeds and rotational speeds into half -planes, using at least one separating straight line, one of said half-planes of said coordinate system corresponding to a permissible travel space, the other of said two half-planes corresponding to a travel exclusion zone of said movement assistance device (DADP), - determining a second rotational speed and a second translational speed by projecting said command point into said permissible space, - controlling said one or more motors and said steering control module (DCTRL), respectively as a function of said second translational speed and said second rotational speed previously determined, said at least one separating straight line being defined by the equation: J v v + J ⁢ ω ≤ s − s * where: v is an instantaneous translational speed of said device (DADP), ω is an instantaneous rotational speed of said device (DADP), is a constant, s is said distance measured, and s* is a minimum distance measured to the obstacle, and J v and J are scalar components respectively derived from the speeds c v and c of the corresponding sensor in the coordinate system (,v). - separating, in particular according to said distance (s) measured, said coordinate system, representing pairs (C V11) of said values of translational speeds and rotational speeds into half -planes, using at least one separating straight line, one of said half-planes of said coordinate system corresponding to a permissible travel space, the other of said two half-planes corresponding to a travel exclusion zone of said movement assistance device (DADP), - determining a second rotational speed and a second translational speed by projecting said command point into said permissible space, - controlling said one or more motors and said steering control module (DCTRL), respectively as a function of said second translational speed and said second rotational speed previously determined, said at least one separating straight line being defined by the equation: J v v + J ⁢ ω ≤ s − s * where: v is an instantaneous translational speed of said device (DADP), ω is an instantaneous rotational speed of said device (DADP), is a constant, s is said distance measured, and s* is a minimum distance measured to the obstacle, and J v and J are scalar components respectively derived from the speeds c v and c of the corresponding sensor in the coordinate system (,v). v is an instantaneous translational speed of said device (DADP), ω is an instantaneous rotational speed of said device (DADP), is a constant, s is said distance measured, and s* is a minimum distance measured to the obstacle, and J v and J are scalar components respectively derived from the speeds c v and c of the corresponding sensor in the coordinate system (,v).