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We use the sbpl lattice planner (http://www.ros.org/wiki/sbpl_lattice_planner) on our four wheel drive/steering Hector UGV. You can specify the allowed motion primitives as described in the documentation. The plan will then only consist of valid motion for you Ackermann-steered vehicle. The only problem then is to follow this trajectory exactly, which move_base doesn't do in my experience.

See also this answer: http://answers.ros.org/question/27/how-can-i-use-the-navigation-stack-on-a-carlike

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