ROS Navigation with 4 Movements ONLY

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Good day,

I am making a turtlebot3 simulation, in which I have to navigate from a point to the other with only limited movements as LEFT, RIGHT, BACK, FRONT. I was able to make something like that with an obstacle avoidance script. The script would take a decision on hitting the obstacle. But, to navigate after localisation of the robot. I will have to employ either a form of SLAM or AMCL. But, I see that SLAM does not care about the movement constraint, rather takes the optimized route, which will be in any degree of movement across 360. Are there options of constraining the movement to 90,180,270 and such in SLAM/AMCL or not? Please let me know, if there are other such ways to accomplish the task.

Best wishes.