diff --git a/src/Util.hs b/src/Util.hs
index 2cf69c8..6d39bd2 100644
--- a/src/Util.hs
+++ b/src/Util.hs
@@ -133,11 +133,25 @@ astarAppl imgmat target start = aStar
 
 naviGraph :: Matrix (Maybe ImgId) -> V2 Int -> HS.HashSet (V2 Int)
 naviGraph imgmat (V2 r c) =
-  let list = foldl
-        (\acc (or, oc) -> if null (imgObstacle $ imgmat M.! (r + or, c + oc))
-          then if or == 0 && oc == 0 then acc else V2 (r + or) (c + oc): acc
-          else acc
-          )
-        []
-        [(0, 1), (0, -1), (1, 0), (-1, 0)]
+  let list =
+        foldl
+          (\acc (or, oc) ->
+            if null (imgObstacle $ imgmat M.! (r + or, c + oc))
+            then V2 (r + or) (c + oc): acc
+            else acc
+            )
+          []
+          [(0, 1), (0, -1), (1, 0), (-1, 0)]
+        ++
+        foldl
+          (\acc (or, oc) ->
+            if all null
+              (map
+              (\(oor, ooc) -> imgObstacle $ imgmat M.! (r + oor, c + ooc))
+              [(0, oc), (or, 0), (or, oc)])
+            then V2 (r + or) (c + oc): acc
+            else acc
+            )
+          []
+          [(-1, -1), (-1, 1), (1, -1), (1, 1)]
   in  HS.fromList list