Fig. 1. A user being steered with our alignment-based redirection controller (ARC) in two different environments. In Environment 1, the virtual environment (VE) is larger than the physical environment (PE), and there is an obstacle in the northeast corner of the VE. The PE has no obstacles. In Environment 2, the VE is larger than the PE, and both have obstacles in different positions. (A) The user walks in a straight line forward in the VE. (B) In the PE, the user is steered on a curved path away from the edge of the tracked space, in order to minimize the differences in proximity to obstacles in PE and VE. (C) The user walks in a straight line forward in the VE, with obstacles on either side of the path. (D)The user is steered on a path with multiple curves in the physical space. The user avoids a collision with the obstacle in front of them, and is also steered to minimize the differences in proximity to obstacles in the PE and VE. We are able to steer the user along smooth, collision-free trajectories in the PE. Our extensive experiments in real-wold and simulation-based experiments show that in simple and complex environments, our approach results in fewer collisions with obstacles and lower steering rate than current state-of-the-art algorithms for redirected walking.