Pathfinding with specific end-direction and turning speed limit

Let's say i want to move an object from StartPoint A to EndPoint B. My object can move only to forward direction. When it reaches the EndPoint B my object's forward direction has to be a specific one which i know it(the user specifies it before pathfinding). So, i have to find the best path which doesn't contains 2 consecutive points exceedeing a turning speed from a point to another. It is something like Bezier Curves but here I can't assert rotation limit. I want to obtain a smooth path obviously. I know about A-star and other things but my problem is that my grid is more complex because i can't move to 4/8 directions from a point, i can move to specific points based my current forward vector. Any suggestions ? Thanks.