This topic about bezier splines might be usefull for you.

http://www.pascalgamedevelopment.com...p?topic=5833.0

"Maximum angle" is a bit unclear to me. I can see you want to constrain the rotation to some degree because it's unrealistic to turn at once. But do you want a maximum rotation per frame, or per second?

This is what I would do (for each frame):

Code:
 Check where the target is with respect to the pedestrian's position using arcTan2().
 If this angle is different from the orientation of the pedestrian?
  Add MaxRotate to the current angle of your pedestrian (or subtract, depending on what is faster to reach the perfect approach angle)
 else
  Leave the angle alone, we are approaching our target in the right direction

 Now just move one step with current angle and speed.
Hope this makes sense to you.