hi benergy
And welcome.
Somewhere, and I'm sorry i can't find it at the minute, Art has posted the definitive explanation on this site.
Basically your machine is behaving correctly. To borrow Art's similie you could drive down a street to a right angle corner and take it safely if you're travelling slowly. If you speed up you ain't gonna make it. So you slow down towards the corner, or cut the corner, and this is what your maachine is doing - looking ahead for those corners it won't get round.
Find art's explanation. The complexity of the calculation is amazing.
Jim