diff --git a/PathPlanning/AStar/a_star.py b/PathPlanning/AStar/a_star.py
index 4498c751be..113031d54b 100644
--- a/PathPlanning/AStar/a_star.py
+++ b/PathPlanning/AStar/a_star.py
@@ -158,7 +158,7 @@ def calc_obstacle_map(ox, oy, reso, vr):
             for iox, ioy in zip(ox, oy):
                 d = math.sqrt((iox - x)**2 + (ioy - y)**2)
                 if d <= vr / reso:
-                    obmap[ix][iy] = True
+                    obmap[ix+minx][iy+miny] = True
                     break
 
     return obmap, minx, miny, maxx, maxy, xwidth, ywidth