Redirected walking techniques enable natural locomotion through immersive virtual environments that are considerably larger than the available real world walking space. However, the most effective strategy for steering the user remains an open question, as most previously presented algorithms simply redirect toward the center of the physical space. In this work, we present a theoretical framework that plans a walking path through a virtual environment and calculates the parameters for combining translation, rotation, and curvature gains such that the user can traverse a series of defined waypoints efficiently based on a utility function. This function minimizes the number of overt reorientations to avoid introducing potential breaks in presence. A notable advantage of this approach is that it leverages knowledge of the layout of both the physical and virtual environments to enhance the steering strategy.