diff --git a/nav2_navfn_planner/src/navfn_planner.cpp b/nav2_navfn_planner/src/navfn_planner.cpp
index 2258b5e19f..1b2e2d5e95 100644
--- a/nav2_navfn_planner/src/navfn_planner.cpp
+++ b/nav2_navfn_planner/src/navfn_planner.cpp
@@ -320,7 +320,10 @@ NavfnPlanner::getPlanFromPotential(
 
   planner_->setStart(map_goal);
 
-  int path_len = planner_->calcPath(costmap_->getSizeInCellsX() * 4);
+  const int & max_cycles = (costmap_->getSizeInCellsX() >= costmap_->getSizeInCellsY()) ?
+    (costmap_->getSizeInCellsX() * 4) : (costmap_->getSizeInCellsY() * 4);
+
+  int path_len = planner_->calcPath(max_cycles);
   if (path_len == 0) {
     return false;
   }