diff --git a/nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp b/nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp
index 1b3f8abd56..403c007fb0 100644
--- a/nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp
+++ b/nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp
@@ -63,7 +63,9 @@ inline BT::NodeStatus PathLongerOnApproach::tick()
   getInput("length_factor", length_factor_);
 
   if (first_time_ == false) {
-    if (old_path_.poses.back() != new_path_.poses.back()) {
+    if (old_path_.poses.empty() || new_path_.poses.empty() ||
+      old_path_.poses.back() != new_path_.poses.back())
+    {
       first_time_ = true;
     }
   }