Traditionally, robot motion planners use Voronoi Diagrams for generating admissible paths that connect an initial with a final configuration. When dynamic scenarios are involved, these techniques imply a heavy computational cost. The novelty of the technique presented here is that it can provide fast and particularly suitable routes without considering the full scenario if environmental changes appear. The new method is designed to work with a post-process technique in order to provide admissible paths for car-like robots coping with kinematic constraints. This new approach is capable of supplying continuous paths and also elaborate maneuvers if cluttered environments are involved.