diff --git a/ADIS_Sumo/Sumo/Maze.c b/ADIS_Sumo/Sumo/Maze.c
index 1483ac3..6c42b50 100644
--- a/ADIS_Sumo/Sumo/Maze.c
+++ b/ADIS_Sumo/Sumo/Maze.c
@@ -144,8 +144,14 @@ uint8_t MAZE_EvaluteTurn(bool *finished, bool *deadEndGoBw) {
   *deadEndGoBw = FALSE; /* default */
   currLineKind = REF_GetLineKind(REF_LINE_KIND_MODE_MAZE);
   if (currLineKind==REF_LINE_NONE) { /* nothing, must be dead end */
+#if PL_GO_DEADEND_BW
+    TURN_Turn(TURN_STEP_LINE_BW, NULL); /* step back so we are again on the line for line following */
+    turn = TURN_STRAIGHT;
+    *deadEndGoBw = TRUE;
+#else
     turn = TURN_LEFT180;
-  } else {
+#endif
+    } else {
     HISTORY_Clear(); /* clear history values */
     HISTORY_SampleSensors(); /* store current values */
 #if PL_CONFIG_USE_QUADRATURE