We propose an algorithm for map-aided inertial dead reckoning (DR) for indoor navigation. The technique is based on a concept of collision avoidance velocity. New positions estimated by DR are checked for collision detection with walls and if such a situation is detected. the collision avoidance velocity is calculated to avert the obstacles. https://www.countryscenesaddleryandpetsuppliers.shop/product-category/stirrups-2/