Non-custodial has made false allegation...should I still give her our kid for her scheduled visitation?

The NCP mother made another false allegations that I touched our 5yr old daughter in which child protective services is now investigating. The mother's court ordered scheduled visitation (every other weekend) is coming up in a few days, I'm worried that the mother will do something stupid like brain-wash our kid or kidnap her. I asked the case worker about my concern and she cant or refuse to give me any advise. Should I go by my decision to cancel her weekend visitation till we sort this whole thing in court? or get a temporary restraining order against the mother? Please help!