diff --git a/mg_navigation/include/handlers/dwa_lookat.hpp b/mg_navigation/include/handlers/dwa_lookat.hpp
index 2684765..4e9fd90 100644
--- a/mg_navigation/include/handlers/dwa_lookat.hpp
+++ b/mg_navigation/include/handlers/dwa_lookat.hpp
@@ -13,8 +13,9 @@ namespace mg {
 
         const double a = glm::abs(theta - target_ornt);
         const double b = (a > glm::pi<double>()) ? glm::two_pi<double>() - a : a;
+        const double c = (b > glm::pi<double>() / 2) ? glm::pi<double>() - b : b;
 
-        return b > goal->tolerance;
+        return c > goal->tolerance;
     }
 
     template <>
@@ -56,6 +57,9 @@ namespace mg {
         dist_old = (dist_old > glm::pi<double>()) ? glm::two_pi<double>() - dist_old : dist_old;
         dist_new = (dist_new > glm::pi<double>()) ? glm::two_pi<double>() - dist_new : dist_new;
 
+        dist_old = (dist_old > glm::pi<double>() / 2) ? glm::pi<double>() - dist_old : dist_old;
+        dist_new = (dist_new > glm::pi<double>() / 2) ? glm::pi<double>() - dist_new : dist_new;
+
         const double score = goal->ornt_mult * (dist_old - dist_new);
 
         return score;