  Let $S$ be a set of $n$ points in the plane, $\wp(S)$ be the set of all
simple polygons crossing $S$, $\gamma_P$ be the maximum angle of polygon $P \in
\wp(S)$ and $\theta =min_{P\in\wp(S)} \gamma_P$. In this paper, we prove that
$\theta\leq 2\pi-\frac{2\pi}{r.m}$ where $m$ and $r$ are the number of edges
and inner points of the convex hull of $S$, respectively. We also propose an
algorithm to construct a polygon with the said upper bound on its angles.
Constructing a simple polygon with angular constraint on a given set of points
in the plane can be used for path planning in robotics. Moreover, we improve
our upper bound on $\theta$ and prove that this is tight for $r=1$.
