diff --git a/global_planner/src/grid_path.cpp b/global_planner/src/grid_path.cpp
index 3bf49e4d90..3b1a2eabcf 100644
--- a/global_planner/src/grid_path.cpp
+++ b/global_planner/src/grid_path.cpp
@@ -59,6 +59,8 @@ bool GridPath::getPath(float* potential, double start_x, double start_y, double
                 if (xd == 0 && yd == 0)
                     continue;
                 int x = current.first + xd, y = current.second + yd;
+                if (x > xs_ || y > ys_ || x < 0 || y < 0)
+                    continue;
                 int index = getIndex(x, y);
                 if (potential[index] < min_val) {
                     min_val = potential[index];