I saw an interesting image on the book Planning Algorithms, showing the path planning result for a car which can only turn left to drive through a complex environment. Thus I want to do the non-holonomic planning by myself.

Then we need a local planner which could give us a feasible solution for simple situations. It is not hard to derive a method to plan a path using the series of circles which lies to the left of the initial and terminal states. Just find the tangent circles, since we do not really need to guarantee to find a solution or find the optimal solution.

Finally, it works!