This work has been applied in a project gathering LAAS-CNRS, Airbus Transportation, the French department of transportation and Kineo CAM. The problem was to validate the itinerary of convoys carrying the components of the future Airbus A380. The components are built in different cities in Europe and need to be carried from there to Toulouse where they are assembled. The last part of the transportation is performed by road and the convoys need to cross constrained passages in two villages (Gimont and Levignac). The sizes of the convoys (more than 12 meter high, 8 meter wide and 50 meter long) requires validation of the itinerary and optimization of the distance of the trajectories to obstacles. Within this project, we have adapted our path deformation method for nonholonomic systems in order to adapt it to trailer-truck kinematics.