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 404f31d..ddf4b30 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
@@ -476,8 +476,9 @@ mkt_msgs::Trajectory2D mkt_algorithm::diff::PredictiveTrajectory::calculator(
     twist = traj_->nextTwist();
   }
   double v_max = sign_x > 0 ? traj_->getTwistLinear(true).x : traj_->getTwistLinear(false).x;
-  drive_cmd.x = std::min(sqrt(twist.x * twist.x),  fabs(v_max));
-
+  // drive_cmd.x = std::min(sqrt(twist.x * twist.x),  fabs(v_max));
+  drive_cmd.x = sqrt(twist.x * twist.x);
+  
   robot_nav_2d_msgs::Path2D transformed_plan = this->transform_plan_;
   if (transformed_plan.poses.empty())
   {