diff --git a/src/dwa.c b/src/dwa.c
index 54d1fd0..d04bf3a 100644
--- a/src/dwa.c
+++ b/src/dwa.c
@@ -118,7 +118,7 @@ planning(Pose pose, Velocity velocity, Point goal,
       pPose = pose;
       pVelocity.linearVelocity = dw->possibleV[i];
       pVelocity.angularVelocity = dw->possibleW[j];
-      pPose = motion(pPose, pVelocity, config.predictTime);
+      pPose = motion(pPose, pVelocity, config.dt);
       cost = 
         config.velocity * calculateVelocityCost(pVelocity, config) +
         config.heading * calculateHeadingCost(pPose, goal) +