This paper proposes local path planning based on velocity obstacle (VO) considering the collision probability and kinematic constraint for a mobile robot. Several types of VO-based methods have been reported since VO is one of the practice path planning methods. In VO-based methods, the velocity pairs with collision probability are treated as VO. For collision avoidance, the velocity pair outside VO is selected as the velocity command. In other words, the velocities with even a little collision probability are treated as unselectable velocity pairs. Therefore, VO-based methods are conservative. In the proposed method, weight coefficients according to collision probability are set in VO. By using these weight coefficients, the velocity pairs inside VO are evaluated. In addition, only the feasible velocity pairs are selected by considering the kinematic constraint. If the collision probability is low, the mobile robot can select the velocity pair inside VO. The validity of the proposed method was confirmed by the simulation results.