diff --git a/husarion_ugv_utils/include/husarion_ugv_utils/moving_average.hpp b/husarion_ugv_utils/include/husarion_ugv_utils/moving_average.hpp
index 0a6c76363..fc1d6b4fe 100644
--- a/husarion_ugv_utils/include/husarion_ugv_utils/moving_average.hpp
+++ b/husarion_ugv_utils/include/husarion_ugv_utils/moving_average.hpp
@@ -16,6 +16,7 @@
 #define HUSARION_UGV_UTILS_MOVING_AVERAGE_HPP_
 
 #include <deque>
+#include <numeric>
 
 namespace husarion_ugv_utils
 {
@@ -25,40 +26,40 @@ class MovingAverage
 {
 public:
   MovingAverage(const std::size_t window_size = 5, const T initial_value = T(0))
-  : window_size_(window_size), initial_value_(initial_value), sum_(T(0))
+  : window_size_(window_size), initial_value_(initial_value)
   {
+    if (window_size_ == 0) {
+      throw std::invalid_argument("Window size must be greater than 0");
+    }
   }
 
   void Roll(const T value)
   {
-    values_.push_back(value);
-    sum_ += value;
+    buffer_.push_back(value);
 
-    if (values_.size() > window_size_) {
-      sum_ -= values_.front();
-      values_.pop_front();
+    if (buffer_.size() > window_size_) {
+      buffer_.pop_front();
     }
   }
 
-  void Reset()
-  {
-    values_.erase(values_.begin(), values_.end());
-    sum_ = T(0);
-  }
+  void Reset() { buffer_.erase(buffer_.begin(), buffer_.end()); }
 
   T GetAverage() const
   {
-    if (values_.size() == 0) {
+    if (buffer_.size() == 0) {
       return initial_value_;
     }
-    return sum_ / static_cast<T>(values_.size());
+
+    T sum = std::accumulate(buffer_.begin(), buffer_.end(), T(0));
+    T average = sum / static_cast<T>(buffer_.size());
+
+    return average;
   }
 
 private:
   const std::size_t window_size_;
-  std::deque<T> values_;
+  std::deque<T> buffer_;
   const T initial_value_;
-  T sum_;
 };
 
 }  // namespace husarion_ugv_utils
diff --git a/husarion_ugv_utils/test/test_moving_average.cpp b/husarion_ugv_utils/test/test_moving_average.cpp
index 653483ce7..2934f28e9 100644
--- a/husarion_ugv_utils/test/test_moving_average.cpp
+++ b/husarion_ugv_utils/test/test_moving_average.cpp
@@ -66,7 +66,8 @@ TEST(TestMovingAverage, TestHighOverload)
 
     // test every 1000 rolls expected average
     if (i % window_len == 0) {
-      EXPECT_EQ(sum / double(window_len), ma.GetAverage());
+      ASSERT_NEAR(
+        sum / double(window_len), ma.GetAverage(), std::numeric_limits<double>::epsilon());
       sum = 0.0;
     }
   }
@@ -107,6 +108,25 @@ TEST(TestMovingAverage, TestResetToInitialValue)
   EXPECT_EQ(7.0, ma.GetAverage());
 }
 
+TEST(TestMovingAverage, TestInfInjectionHandling)
+{
+  husarion_ugv_utils::MovingAverage<double> ma(4);
+  ma.Roll(1.0);
+  ma.Roll(2.0);
+  ma.Roll(3.0);
+  ma.Roll(4.0);
+  EXPECT_EQ(2.5, ma.GetAverage());
+
+  ma.Roll(std::numeric_limits<double>::infinity());
+  EXPECT_EQ(std::numeric_limits<double>::infinity(), ma.GetAverage());
+
+  ma.Roll(1.0);
+  ma.Roll(2.0);
+  ma.Roll(3.0);
+  ma.Roll(4.0);
+  EXPECT_EQ(2.5, ma.GetAverage());
+}
+
 int main(int argc, char ** argv)
 {
   testing::InitGoogleTest(&argc, argv);