diff --git a/src/Algorithms/Libraries/mkt_algorithm/include/mkt_algorithm/diff/diff_predictive_trajectory.h b/src/Algorithms/Libraries/mkt_algorithm/include/mkt_algorithm/diff/diff_predictive_trajectory.h
index 6a21147..936d3be 100644
--- a/src/Algorithms/Libraries/mkt_algorithm/include/mkt_algorithm/diff/diff_predictive_trajectory.h
+++ b/src/Algorithms/Libraries/mkt_algorithm/include/mkt_algorithm/diff/diff_predictive_trajectory.h
@@ -194,11 +194,11 @@ namespace mkt_algorithm
 
       /**
        * @brief Generate Hermite trajectory
-       * @param pose
+       * @param path
        * @param sign_x
        * @return trajectory
        */
-      robot_nav_2d_msgs::Path2D generateHermiteTrajectory(const robot_nav_2d_msgs::Pose2DStamped &pose, const double &sign_x);
+      robot_nav_2d_msgs::Path2D generateHermiteTrajectory(const robot_nav_2d_msgs::Path2D &path, const double &sign_x);
 
       /**
        * @brief Generate Hermite quadratic trajectory
@@ -206,7 +206,7 @@ namespace mkt_algorithm
        * @param sign_x
        * @return trajectory
        */
-      robot_nav_2d_msgs::Path2D generateHermiteQuadraticTrajectory(const robot_nav_2d_msgs::Pose2DStamped &pose, const double &sign_x);
+      robot_nav_2d_msgs::Path2D generateHermiteQuadraticTrajectory(const robot_nav_2d_msgs::Path2D &path, const double &sign_x);
 
       /**
        * @brief Should rotate to path
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 1843f90..404f31d 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
@@ -529,19 +529,19 @@ mkt_msgs::Trajectory2D mkt_algorithm::diff::PredictiveTrajectory::calculator(
   }
   else
   {
-    // === Final Heading Alignment Check ===
-    double xy_error = 0.0, heading_error = 0.0;
-    if (shouldAlignToFinalHeading(transformed_plan, carrot_pose, velocity, xy_error, heading_error, sign_x))
-    {
-      // Use Arc Motion controller for final heading alignment
-      alignToFinalHeading(xy_error, heading_error, velocity, sign_x, dt, drive_cmd);
-#ifdef BUILD_WITH_ROS
-      ROS_INFO("heading_err=%.3f deg, v=%.3f, w_current=%.3f, w_target=%.3f",
-                        heading_error * 180.0 / M_PI, drive_cmd.x, velocity.theta, drive_cmd.theta);
-#endif
-    }
-    else
-    {
+//     // === Final Heading Alignment Check ===
+//     double xy_error = 0.0, heading_error = 0.0;
+//     if (shouldAlignToFinalHeading(transformed_plan, carrot_pose, velocity, xy_error, heading_error, sign_x))
+//     {
+//       // Use Arc Motion controller for final heading alignment
+//       alignToFinalHeading(xy_error, heading_error, velocity, sign_x, dt, drive_cmd);
+// #ifdef BUILD_WITH_ROS
+//       ROS_INFO("heading_err=%.3f deg, v=%.3f, w_current=%.3f, w_target=%.3f",
+//                         heading_error * 180.0 / M_PI, drive_cmd.x, velocity.theta, drive_cmd.theta);
+// #endif
+//     }
+//     else
+//     {
       // if(fabs(carrot_pose.pose.y) > 0.2)
       // {
       //   lookahead_dist = sqrt(carrot_pose.pose.y *carrot_pose.pose.y + lookahead_dist * lookahead_dist);
@@ -559,7 +559,7 @@ mkt_msgs::Trajectory2D mkt_algorithm::diff::PredictiveTrajectory::calculator(
       sign_x, 
       dt, 
       drive_cmd);
-    }
+    // }
     applyDistanceSpeedScaling(compute_plan_, velocity, drive_cmd, sign_x, dt);
     if (this->nav_stop_)
     {
@@ -1242,13 +1242,13 @@ robot_nav_2d_msgs::Path2D mkt_algorithm::diff::PredictiveTrajectory::generateTra
     {
       return generateParallelPath(path, sign_x);
     }
-    return generateHermiteTrajectory(path.poses.back(), sign_x);
+    return generateHermiteTrajectory(path, sign_x);
   }
   else // nếu đường cong
   {
     if(fabs(drive_cmd.x) < min_speed_xy_)
       drive_cmd.x = std::copysign(min_speed_xy_, sign_x);
-    return generateHermiteQuadraticTrajectory(path.poses.back(), sign_x);
+    return generateHermiteQuadraticTrajectory(path, sign_x);
   }
 }
 
@@ -1285,33 +1285,43 @@ robot_nav_2d_msgs::Path2D mkt_algorithm::diff::PredictiveTrajectory::generatePar
 
     parallel_path.poses[i].pose.x = x_off;
     parallel_path.poses[i].pose.y = y_off;
-    parallel_path.poses[i].pose.theta = theta; // hoặc giữ nguyên p.theta
+    parallel_path.poses[i].pose.theta = p.theta;
     parallel_path.poses[i].header = path.poses[i].header;
   }
-
   return parallel_path;
 }
 
+
+
 robot_nav_2d_msgs::Path2D mkt_algorithm::diff::PredictiveTrajectory::generateHermiteTrajectory(
-  const robot_nav_2d_msgs::Pose2DStamped &pose, const double &sign_x)
+  const robot_nav_2d_msgs::Path2D &path, const double &sign_x)
 {
   robot_nav_2d_msgs::Path2D hermite_trajectory;
   hermite_trajectory.poses.clear();
-  hermite_trajectory.header.stamp = pose.header.stamp;
-  hermite_trajectory.header.frame_id = pose.header.frame_id;
+  hermite_trajectory.header = path.header;
 
-  const double x = pose.pose.x;
-  const double y = pose.pose.y;
-  const double theta = pose.pose.theta;
+  if (path.poses.empty())
+    return hermite_trajectory;
+
+  const auto &goal = path.poses.back();
+  if (hermite_trajectory.header.frame_id.empty())
+    hermite_trajectory.header.frame_id = goal.header.frame_id;
+  if (hermite_trajectory.header.stamp.isZero())
+    hermite_trajectory.header.stamp = goal.header.stamp;
+
+  const double x = goal.pose.x;
+  const double y = goal.pose.y;
+  const double theta = goal.pose.theta;
+  robot::log_debug("x: %f, y: %f, theta: %f", x, y, theta);
   const double L = std::hypot(x, y);
 
   if (L < 1e-6) {
     robot_nav_2d_msgs::Pose2DStamped pose_stamped;
-    pose_stamped.pose.x = 0.0;
-    pose_stamped.pose.y = 0.0;
-    pose_stamped.pose.theta = 0.0;
-    pose_stamped.header.stamp = pose.header.stamp;
-    pose_stamped.header.frame_id = pose.header.frame_id;
+    pose_stamped.pose.x = x;
+    pose_stamped.pose.y = y;
+    pose_stamped.pose.theta = theta;
+    pose_stamped.header.stamp = hermite_trajectory.header.stamp;
+    pose_stamped.header.frame_id = hermite_trajectory.header.frame_id;
     hermite_trajectory.poses.push_back(pose_stamped);
     return hermite_trajectory;
   }
@@ -1347,28 +1357,35 @@ robot_nav_2d_msgs::Path2D mkt_algorithm::diff::PredictiveTrajectory::generateHer
 
     double heading = std::atan2(dy, dx);
 
-    robot_nav_2d_msgs::Pose2DStamped pose;
-    pose.pose.x = px;
-    pose.pose.y = py;
-    pose.pose.theta = sign_x < 0 ? angles::normalize_angle(heading + M_PI) : heading;
-    pose.header.stamp = hermite_trajectory.header.stamp;
-    pose.header.frame_id = hermite_trajectory.header.frame_id;
-    hermite_trajectory.poses.push_back(pose);
+    robot_nav_2d_msgs::Pose2DStamped pose_out;
+    pose_out.pose.x = px;
+    pose_out.pose.y = py;
+    pose_out.pose.theta = sign_x < 0 ? angles::normalize_angle(heading + M_PI) : heading;
+    pose_out.header.stamp = hermite_trajectory.header.stamp;
+    pose_out.header.frame_id = hermite_trajectory.header.frame_id;
+    hermite_trajectory.poses.push_back(pose_out);
   }
   return hermite_trajectory;
 }
 
 robot_nav_2d_msgs::Path2D mkt_algorithm::diff::PredictiveTrajectory::generateHermiteQuadraticTrajectory(
-  const robot_nav_2d_msgs::Pose2DStamped &pose, const double &sign_x)
+  const robot_nav_2d_msgs::Path2D &path, const double &sign_x)
 {
   robot_nav_2d_msgs::Path2D trajectory;
   trajectory.poses.clear();
-  trajectory.header.stamp = pose.header.stamp;
-  trajectory.header.frame_id = pose.header.frame_id;
+  trajectory.header = path.header;
+  if (path.poses.empty())
+    return trajectory;
 
-  const double x = pose.pose.x;
-  const double y = pose.pose.y;
-  const double theta = sign_x < 0 ? angles::normalize_angle(pose.pose.theta + M_PI) : pose.pose.theta;
+  const auto &goal = path.poses.back();
+  if (trajectory.header.frame_id.empty())
+    trajectory.header.frame_id = goal.header.frame_id;
+  if (trajectory.header.stamp.isZero())
+    trajectory.header.stamp = goal.header.stamp;
+
+  const double x = goal.pose.x;
+  const double y = goal.pose.y;
+  const double theta = sign_x < 0 ? angles::normalize_angle(goal.pose.theta + M_PI) : goal.pose.theta;
   const double L = std::hypot(x, y);
   if (L < 1e-6)
   {