Penalize nodes behind unit

Hey all,

Trying to figure out a way to prevent the character from rotating in place after reaching a destination node and recalculating the next position to travel to. Essentially I am trying to implement realistic animals which typically will move forward and rotate towards their target (kind of like a car) instead of performing a cold 180 and going the opposite direction.

Any ideas?

I’m essentially looking to achieve something similar to what is gone over in this article: