A method for controlling the movement of an object for avoiding collisions with obstacles; the method comprising: recognizing at least one moving or stationary obstacle; defining a security sector (R RISK) around the obstacle moving along the obstacle; detecting whether the obstacle including its security sector (R RISK) is on a collision course with the object; calculating an avoidance path past the obstacle, such that the avoidance path runs at least approximately in the shape of a circular path and this avoidance path at least approximately shaped as a circular path is tangent to the security sector (R RISK) around the obstacle; calculating a minimum distance of the object from the obstacle required for an avoidance; piloting the object at the minimal distance to the obstacle required, such that it follows at least approximately the calculated avoidance path, wherein the calculated avoidance path tangentially joins the previous movement of the object, characterized in that the calculation of the avoidance path comprises the following steps: it is assumed based on the assumption of a tangential contact of the security sector (R RISK) around the moving obstacle that the security sector at the exact time (t 1) of the contact with the avoidance path is considered immobile, a line is considered, which results from the prolongation of the vector which is formed by subtracting the speed vector (v H) of the obstacle from the speed vector (v i) of the moving object at the time of said supposed tangential contact, the length (s) by which the line calculated in step B penetrates as a chord the security sector (R RISK) around the obstacle considered immobile at the time (t 1) of the contact with the avoidance path is calculated, iteration of the calculation of step A, wherein however the security sector (R RISK) considered immobile is considered increased compared to step A by a circumferential strip, the width of which is equal to the length (s) calculated in step C. recognizing at least one moving or stationary obstacle; defining a security sector (R RISK) around the obstacle moving along the obstacle; detecting whether the obstacle including its security sector (R RISK) is on a collision course with the object; calculating an avoidance path past the obstacle, such that the avoidance path runs at least approximately in the shape of a circular path and this avoidance path at least approximately shaped as a circular path is tangent to the security sector (R RISK) around the obstacle; calculating a minimum distance of the object from the obstacle required for an avoidance; piloting the object at the minimal distance to the obstacle required, such that it follows at least approximately the calculated avoidance path, wherein the calculated avoidance path tangentially joins the previous movement of the object, characterized in that the calculation of the avoidance path comprises the following steps: it is assumed based on the assumption of a tangential contact of the security sector (R RISK) around the moving obstacle that the security sector at the exact time (t 1) of the contact with the avoidance path is considered immobile, a line is considered, which results from the prolongation of the vector which is formed by subtracting the speed vector (v H) of the obstacle from the speed vector (v i) of the moving object at the time of said supposed tangential contact, the length (s) by which the line calculated in step B penetrates as a chord the security sector (R RISK) around the obstacle considered immobile at the time (t 1) of the contact with the avoidance path is calculated, iteration of the calculation of step A, wherein however the security sector (R RISK) considered immobile is considered increased compared to step A by a circumferential strip, the width of which is equal to the length (s) calculated in step C. it is assumed based on the assumption of a tangential contact of the security sector (R RISK) around the moving obstacle that the security sector at the exact time (t 1) of the contact with the avoidance path is considered immobile, a line is considered, which results from the prolongation of the vector which is formed by subtracting the speed vector (v H) of the obstacle from the speed vector (v i) of the moving object at the time of said supposed tangential contact, the length (s) by which the line calculated in step B penetrates as a chord the security sector (R RISK) around the obstacle considered immobile at the time (t 1) of the contact with the avoidance path is calculated, iteration of the calculation of step A, wherein however the security sector (R RISK) considered immobile is considered increased compared to step A by a circumferential strip, the width of which is equal to the length (s) calculated in step C.