diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp
index d08b559cb0e..e6c6a9397b2 100644
--- a/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp
+++ b/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp
@@ -418,13 +418,20 @@ inline void setPathCostsIfNotSet(
  * @param point_y Point to find angle relative to Y axis
  * @return Angle between two points
  */
-inline double posePointAngle(const geometry_msgs::msg::Pose & pose, double point_x, double point_y)
+inline double posePointAngle(
+  const geometry_msgs::msg::Pose & pose, double point_x, double point_y,
+  double point_yaw)
 {
   double pose_x = pose.position.x;
   double pose_y = pose.position.y;
   double pose_yaw = tf2::getYaw(pose.orientation);
 
   double yaw = atan2(point_y - pose_y, point_x - pose_x);
+
+  if (abs(angles::shortest_angular_distance(yaw, point_yaw)) > M_PI_2) {
+    yaw = angles::normalize_angle(yaw + M_PI);
+  }
+
   return abs(angles::shortest_angular_distance(yaw, pose_yaw));
 }
 
diff --git a/nav2_mppi_controller/src/critics/path_angle_critic.cpp b/nav2_mppi_controller/src/critics/path_angle_critic.cpp
index a588bbe2913..ce94153d5f4 100644
--- a/nav2_mppi_controller/src/critics/path_angle_critic.cpp
+++ b/nav2_mppi_controller/src/critics/path_angle_critic.cpp
@@ -57,16 +57,30 @@ void PathAngleCritic::score(CriticData & data)
 
   const float goal_x = xt::view(data.path.x, offseted_idx);
   const float goal_y = xt::view(data.path.y, offseted_idx);
+  const float goal_yaw = xt::view(data.path.yaws, offseted_idx);
 
-  if (utils::posePointAngle(data.state.pose.pose, goal_x, goal_y) < max_angle_to_furthest_) {
+  if (utils::posePointAngle(
+      data.state.pose.pose, goal_x, goal_y,
+      goal_yaw) < max_angle_to_furthest_)
+  {
     return;
   }
 
   const auto yaws_between_points = xt::atan2(
     goal_y - data.trajectories.y,
     goal_x - data.trajectories.x);
+
+  const auto yaws_between_points_corrected = xt::eval(
+    xt::where(
+      xt::abs(utils::shortest_angular_distance(yaws_between_points, goal_yaw)) <= M_PI_2,
+      yaws_between_points,
+      utils::normalize_angles(yaws_between_points + M_PI)));
+
   const auto yaws =
-    xt::abs(utils::shortest_angular_distance(data.trajectories.yaws, yaws_between_points));
+    xt::abs(
+    utils::shortest_angular_distance(
+      data.trajectories.yaws,
+      yaws_between_points_corrected));
 
   data.costs += xt::pow(xt::mean(yaws, {1}, immediate) * weight_, power_);
 }