Redirected walking (RDW) aims to reduce the collisions in the physical space for VR applications. However, most of the previous RDW methods do not consider future possibilities of collisions after imperceptibly redirecting users. In this paper, we combine the subtle RDW methods and reset strategy in our method design and propose a novel solution for RDW that can make better use of physical space and trigger fewer resets. The key idea of our method is to discretize the representation of possible user positions and orientations by a series of standard poses and rate them based on the possibilities of hitting obstacles of their reachable poses. A transfer path algorithm is proposed to measure the accessibility among standard poses and is used to support the calculation of the scores of standard poses. Using our method, the user can be redirected imperceptibly to the optimal pose with the best score among all the reachable poses from the user’s current pose during walking. Experiments demonstrate that our method outperforms state-of-the-art methods in various environment sizes and obstacle layouts.