Abstract: A method for avoiding collisions between at least two physical entities consisting of elements definable by points which can be known in a digital form. The points can be displaced simultaneously according to at least one degree of freedom. Each of the simultaneous displacements requires a minimum variation in the corresponding degree of freedom prior to stopping. A computer-type system is used to store and process the points in digital form. The deformable digital model is defined inside the computer-type system for each of the elements of the physical entitites. The deformable model contains the positions which the points of the associated element can assume during any particular combination of simultaneous displacements according to the degrees of freedom during minimum variations prior to stopping.