diff --git a/nav2_dwb_controller/dwb_core/include/dwb_core/dwb_local_planner.hpp b/nav2_dwb_controller/dwb_core/include/dwb_core/dwb_local_planner.hpp
index 971d8eef46..7d036ea206 100644
--- a/nav2_dwb_controller/dwb_core/include/dwb_core/dwb_local_planner.hpp
+++ b/nav2_dwb_controller/dwb_core/include/dwb_core/dwb_local_planner.hpp
@@ -198,6 +198,7 @@ class DWBLocalPlanner : public nav2_core::Controller
   nav_2d_msgs::msg::Path2D global_plan_;  ///< Saved Global Plan
   bool prune_plan_;
   double prune_distance_;
+  double max_deviation_;
   bool debug_trajectory_details_;
   rclcpp::Duration transform_tolerance_{0, 0};
   bool shorten_transformed_plan_;
diff --git a/nav2_dwb_controller/dwb_core/src/dwb_local_planner.cpp b/nav2_dwb_controller/dwb_core/src/dwb_local_planner.cpp
index 475bd0706c..591803cb3c 100644
--- a/nav2_dwb_controller/dwb_core/src/dwb_local_planner.cpp
+++ b/nav2_dwb_controller/dwb_core/src/dwb_local_planner.cpp
@@ -90,6 +90,9 @@ void DWBLocalPlanner::configure(
   declare_parameter_if_not_declared(
     node, dwb_plugin_name_ + ".prune_distance",
     rclcpp::ParameterValue(1.0));
+  declare_parameter_if_not_declared(
+    node, dwb_plugin_name_ + ".max_deviation",
+    rclcpp::ParameterValue(1.0));
   declare_parameter_if_not_declared(
     node, dwb_plugin_name_ + ".shorten_distance",
     rclcpp::ParameterValue(2.0));
@@ -118,6 +121,7 @@ void DWBLocalPlanner::configure(
 
   node->get_parameter(dwb_plugin_name_ + ".prune_plan", prune_plan_);
   node->get_parameter(dwb_plugin_name_ + ".prune_distance", prune_distance_);
+  node->get_parameter(dwb_plugin_name_ + ".max_deviation", max_deviation_);
   node->get_parameter(dwb_plugin_name_ + ".shorten_distance", shorten_distance_);
   node->get_parameter(dwb_plugin_name_ + ".debug_trajectory_details", debug_trajectory_details_);
   node->get_parameter(dwb_plugin_name_ + ".trajectory_generator_name", traj_generator_name);
@@ -503,7 +507,7 @@ DWBLocalPlanner::transformGlobalPlan(
     }
   }
 
-  if (smallest_distance == dist_threshold)
+  if (smallest_distance == dist_threshold || smallest_distance > max_deviation_)
   {
     throw nav2_core::ControllerException("The robot is too far from the path.");
   }