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Most collision avoidance methods do not consider the vehicle shape and its kinematic and dynamic constraints, assuming the robot to be point-like and omnidirectional with no acceleration constraints. The contribution of this paper is a methodology to consider the exact shape and kinematics, as well as the effects of dynamics in the collision avoidance layer, since the original avoidance method does not address them. This is achievable by abstracting the constraints from the avoidance methods in such a way that when the method is applied, the constraints already have been considered. This study is a starting point to extend the domain of applicability to a wide range of collision avoidance methods.