We address the problem of optimal path planning for a simple nonholonomic\nvehicle in the presence of obstacles. Most current approaches are either split\nhierarchically into global path planning and local collision avoidance, or\nneglect some of the ambient geometry by assuming the car is a point mass. We\npresent a Hamilton-Jacobi formulation of the problem that resolves time-optimal\npaths and considers the geometry of the vehicle.\n