diff --git a/src/Algorithms/Libraries/mkt_algorithm/src/diff/diff_predictive_trajectory.cpp b/src/Algorithms/Libraries/mkt_algorithm/src/diff/diff_predictive_trajectory.cpp
index dc31648..4536f5b 100644
--- a/src/Algorithms/Libraries/mkt_algorithm/src/diff/diff_predictive_trajectory.cpp
+++ b/src/Algorithms/Libraries/mkt_algorithm/src/diff/diff_predictive_trajectory.cpp
@@ -519,11 +519,11 @@ mkt_msgs::Trajectory2D mkt_algorithm::diff::PredictiveTrajectory::calculator(
 
   const double distance_allow_rotate = min_journey_squared_;
   const double path_distance_to_rotate = journey(transformed_plan.poses, 0, transformed_plan.poses.size() - 1);
-  allow_rotate |= 
-  (path_distance_to_rotate >= distance_allow_rotate && 
-  fabs(transformed_plan.poses.front().pose.y * cos(transformed_plan.poses.front().pose.theta)) <= 0.1);
+  allow_rotate |= path_distance_to_rotate >= distance_allow_rotate;
+  allow_rotate |= fabs(transformed_plan.poses.back().pose.theta) >= M_PI / 2;
+  allow_rotate &= fabs(transformed_plan.poses.front().pose.y * cos(transformed_plan.poses.front().pose.theta)) <= 0.1;
 
-  double angle_to_heading;
+  double angle_to_heading; 
   if (allow_rotate && shouldRotateToPath(transformed_plan, carrot_pose, velocity, angle_to_heading, sign_x))
   {
     if (!stopped(velocity, max_vel_theta_ + rot_stopped_velocity_, trans_stopped_velocity_))
diff --git a/src/Algorithms/Packages/global_planners/custom_planner b/src/Algorithms/Packages/global_planners/custom_planner
index 62a493a..d5ef0b1 160000
--- a/src/Algorithms/Packages/global_planners/custom_planner
+++ b/src/Algorithms/Packages/global_planners/custom_planner
@@ -1 +1 @@
-Subproject commit 62a493a892e6a0936cc584a434ac694f9bbf0f5a
+Subproject commit d5ef0b1075f09b27606e1d2ec04f001ac3de69bf