diff --git a/cfg/AckermannLocalPlanner.cfg b/cfg/AckermannLocalPlanner.cfg
index 769eb125b3a08b516f6276e344a5e7da37712198..17772ce84b0bcfd98a64870f884ac682c79e2503 100755
--- a/cfg/AckermannLocalPlanner.cfg
+++ b/cfg/AckermannLocalPlanner.cfg
@@ -86,6 +86,7 @@ trajectory.add("min_steer_vel",           double_t,  0, "minimum steer speed",
 trajectory.add("max_steer_acc",           double_t,  0, "maximum steer acceleration",                                                                    0.36,     0,     5)
 trajectory.add("max_angular_vel",         double_t,  0, "maximum angular speed",                                                                         0.3,      0,     20)
 trajectory.add("min_angular_vel",         double_t,  0, "minimum angular speed",                                                                         -0.3,     -20,   0)
+trajectory.add("max_curvature",           double_t,  0, "Maximum allowed curvature for trajectory generation",                                           2.0,     0.5,   10.0)
 trajectory.add("trans_vel_samples",       int_t,     0, "The number of samples to use when exploring the x velocity space",                                 3, 1)
 trajectory.add("steer_angle_samples",     int_t,     0, "The number of samples to use when exploring the steer angle space",                                10, 1)
 trajectory.add("angular_vel_samples",     int_t,     0, "The number of samples to use when exploring the angular velocity space",                           10, 1)
diff --git a/src/ackermann_spline_generator.cpp b/src/ackermann_spline_generator.cpp
index 668ba9d43986490bbd8257c2cc1a64d633c1bb6e..6a88e0218dc60d03df70e48d1b7843aa9759135e 100644
--- a/src/ackermann_spline_generator.cpp
+++ b/src/ackermann_spline_generator.cpp
@@ -192,7 +192,7 @@ bool AckermannSplineGenerator::nextTrajectory(base_local_planner::Trajectory &co
       if(fabs(curvature[i])>k_max)
         k_max=fabs(curvature[i]);
     next_sample_index_++;
-    if(k_max>2.0)
+    if(k_max>current_config_.max_curvature)
       return false;
     /* fill the ouput trajectory object */
     double k_max_speed,min_max_speed,new_start_vel,new_max_vel;