CHICAGO (AP) — R. Kelly avoided arrest Thursday by appearing in a Chicago court for a hearing in his child pornography case.

A warrant for the R&B superstar was entered Wednesday after he missed a scheduled appearance. Kelly's lawyer said his tour bus was stopped by police in Utah after a log showed the driver hadn't had enough rest, causing Kelly to miss the 9 a.m. hearing.

Kelly is in the midst of a prolonged legal fight after prosecutors say he allegedly videotaped sex acts with a teenage girl. He has pleaded not guilty.

A judge is expected to set a trial date during Kelly's Thursday appearance.