diff --git a/Cs_HMI/AGVLogic/AGVNavigationCore/Utils/DirectionalHelper.cs b/Cs_HMI/AGVLogic/AGVNavigationCore/Utils/DirectionalHelper.cs
index 9ca99f4..7ee251e 100644
--- a/Cs_HMI/AGVLogic/AGVNavigationCore/Utils/DirectionalHelper.cs
+++ b/Cs_HMI/AGVLogic/AGVNavigationCore/Utils/DirectionalHelper.cs
@@ -58,9 +58,19 @@ namespace AGVNavigationCore.Utils
             if (connectedNodeIds == null || connectedNodeIds.Count == 0)
                 return null;
 
-            var candidateNodes = allNodes.Where(n =>
+            List<MapNode> candidateNodes = new List<MapNode>();
+            if (prevDirection == direction)
+            {
+                candidateNodes = allNodes.Where(n => n.NodeId != prevNode.NodeId &&
                 connectedNodeIds.Contains(n.NodeId)
-            ).ToList();
+                ).ToList();
+            }
+            else
+            {
+                candidateNodes = allNodes.Where(n =>
+                connectedNodeIds.Contains(n.NodeId)
+                ).ToList();
+            }
 
             if (candidateNodes.Count == 0)
                 return null;