diff --git a/src/include/fl/mathematics/control/PurePursuitTracker.h b/src/include/fl/mathematics/control/PurePursuitTracker.h
index 876972a..521697a 100644
--- a/src/include/fl/mathematics/control/PurePursuitTracker.h
+++ b/src/include/fl/mathematics/control/PurePursuitTracker.h
@@ -60,7 +60,7 @@ class PurePursuitTracker : public TrajectoryTracker {
 
     // Run the loop until a distance that is greater than the minimum lookahead distance is found or until
     // we run out of "trajectory" to search. If this happens, we will simply extend the end of the trajectory.
-    while (iterator.Progress() > previewed_time) {
+    while (iterator.RemainingProgress() > previewed_time) {
       previewed_time += 0.02;
       lookahead_pose_by_distance = iterator.Preview(previewed_time).state.State().Pose();
 
diff --git a/src/include/fl/mathematics/trajectory/TrajectoryIterator.h b/src/include/fl/mathematics/trajectory/TrajectoryIterator.h
index 23a8015..3bea88c 100644
--- a/src/include/fl/mathematics/trajectory/TrajectoryIterator.h
+++ b/src/include/fl/mathematics/trajectory/TrajectoryIterator.h
@@ -3,6 +3,8 @@
 #include "Trajectory.h"
 #include "fl/Utilities.h"
 
+#include <algorithm>
+
 namespace fl {
 template <typename U, typename S>
 class TrajectoryIterator {
@@ -32,7 +34,10 @@ class TrajectoryIterator {
   bool                     IsDone() const { return progress_ >= trajectory_->LastInterpolant(); }
   TrajectorySamplePoint<S> CurrentState() const { return sample_; }
 
-  U    Progress() const { return progress_; }
+  U Progress() const { return progress_; }
+  U RemainingProgress() const {
+    return std::max(trajectory_->FirstInterpolant(), trajectory_->LastInterpolant() - progress_);
+  }
   bool Reversed() const { return trajectory_->Reversed(); }
 
  protected: