How to adapt pathfinding algorithms to restricted movement? Imagine car like movement where entities cannot turn on a dime. Say, for the sake of discussion, that when at speed they can turn 90 degrees per second. This would in many cases change the optimal path and therefore the pathfinding. It may even make 'usual' paths entirely impossible to traverse. Are there any pathfinding algorithms or movement planning algorithms that can keep this in mind, or are there simple ways to adapt the popular ones?