|This paper presents a steering method for a car-like vehicle providing smooth paths subjected to curvature constraints. We show how to integrate this steering method in a global motion planning scheme taking obstacles into account. The main idea of the paper is to consider the car as a 4-dimensional system from a kinematic point of view and as a 3-dimensional system from a geometric point of view of collision checking. The resulting planned motions are guaranteed to be collision-free and C 2 between two cusp points.