diff --git a/params/amcl.yaml b/params/amcl.yaml
index e72b96063dde8595683ad4ea7b95a1ea9b128c3b..4c484e0c65726b8c1aba99299dbdede3e05fda77 100644
--- a/params/amcl.yaml
+++ b/params/amcl.yaml
@@ -37,9 +37,9 @@ laser_likelihood_max_dist: 2.0
 laser_model_type: 'likelihood_field'
 # odom parameters
 odom_model_type: "diff"
-odom_alpha1: 0.2
-odom_alpha2: 0.2
-odom_alpha3: 0.2
-odom_alpha4: 0.2
-odom_alpha5: 0.2
+odom_alpha1: 0.005
+odom_alpha2: 0.005
+odom_alpha3: 0.010
+odom_alpha4: 0.005
+odom_alpha5: 0.003
 tf_broadcast: true
diff --git a/params/costmap/common_params.yaml b/params/costmap/common_params.yaml
index 2ddbeb0c4e181fa59f3243b84c0f9e1b52f943cd..7af68624bc8401d434719f6ed0682dd187315733 100755
--- a/params/costmap/common_params.yaml
+++ b/params/costmap/common_params.yaml
@@ -57,4 +57,4 @@ inflation_layer:
   inflate_unknown: false
   inflation_radius: 2.0
   cost_scaling_factor:  5.0
-  inflation_radius:     0.5
\ No newline at end of file
+  inflation_radius:     0.5
diff --git a/params/global_planner/global_planner_params.yaml b/params/global_planner/global_planner_params.yaml
index 43e309ed42c97c5a74f6afd6038f30944c1861a2..547cca1f606ba959863c4588883aef3f58073357 100644
--- a/params/global_planner/global_planner_params.yaml
+++ b/params/global_planner/global_planner_params.yaml
@@ -13,8 +13,8 @@ GlobalPlanner: #default
   use_grid_path: false 
 # planner parameters
   lethal_cost: 253
-  neutral_cost: 50
-  cost_factor: 3.0
+  neutral_cost: 66
+  cost_factor: 0.55
   planner_window_x: 0.0
   planner_window_y: 0.0
 # orientation fileter
diff --git a/params/local_planner/dwa_params.yaml b/params/local_planner/dwa_params.yaml
index a13f9db6c72757bb3fe13342da73db244d755a8a..7bc8051e2d78d533da135829249c4326f4dbf1cf 100644
--- a/params/local_planner/dwa_params.yaml
+++ b/params/local_planner/dwa_params.yaml
@@ -6,11 +6,11 @@ DWAPlannerROS:
   max_trans_vel: 0.5
   min_trans_vel: 0.1
   max_vel_x: 0.5
-  min_vel_x: -0.2
+  min_vel_x: 0.0
   max_vel_y: 0.0 
   min_vel_y: 0.0 
   max_rot_vel: 2.0
-  min_rot_vel: -2.0 
+  min_rot_vel: 0.1 
   acc_lim_theta: 5.0
   acc_lim_x: 1.0
   acc_lim_y: 0.0 
@@ -23,7 +23,7 @@ DWAPlannerROS:
   yaw_goal_tolerance: 0.1 
 
 # Forward simulation parameters
-  sim_time: 2.5
+  sim_time: 3.5
   sim_granularity: 0.1
   angular_sim_granularity: 0.1
   vx_samples: 21
@@ -32,9 +32,9 @@ DWAPlannerROS:
   controller_frequency: 20.0 # defines the sim_period
 
 # Trajectory scoring parameters
-  path_distance_bias: 32.0
-  goal_distance_bias: 24.0
-  occdist_scale: 0.01
+  path_distance_bias: 50.0
+  goal_distance_bias: 20.0
+  occdist_scale: 0.02
   twirling_scale: 0.0
   stop_time_buffer: 0.2
   forward_point_distance: 0.325
diff --git a/params/move_base_params.yaml b/params/move_base_params.yaml
index d64f555c8b8aa403903261f7063995d149a98af8..7d1a6b7c40ce36dfae673122def3aad44c251a1d 100644
--- a/params/move_base_params.yaml
+++ b/params/move_base_params.yaml
@@ -3,21 +3,27 @@
 
 recovery_behavior_enabled: false
 recovery_behaviors:
+  - {name: rotational_recovery, type: rotational_recovery/RotationalRecovery}
   - {name: conservative_reset, type: clear_costmap_recovery/ClearCostmapRecovery}
   - {name: rotate_recovery, type: rotate_recovery/RotateRecovery}
+  - {name: twist_recovery, type: twist_recovery/TwistRecovery}
   - {name: aggressive_reset, type: clear_costmap_recovery/ClearCostmapRecovery}
 
-controller_frequency: 10.0
-planner_patience: 5.0
+controller_frequency: 4.0
+planner_patience: 8.0
 controller_patience: 5.0
-planner_frequency: 0.0 
-max_planning_retries: -1 
+planner_frequency: 5.0
+max_planning_retries: 5.0
 
 conservative_reset_dist: 3.0
 
+linear_x: -0.5
+linear_y: 0.0
+angular_z: 0.0
+
 clearing_rotation_allowed: false
-clearing_radius: 0.46 
+clearing_radius: 0.46
 shutdown_costmaps: false
 
-oscillation_timeout: 0.0
-oscillation_distance: 0.5
+oscillation_timeout: 4.0
+oscillation_distance: 0.2
diff --git a/params/pointcloud_to_laserscan.yaml b/params/pointcloud_to_laserscan.yaml
index c7176520ffe36b88392c5f3ab6d70d7fb110d393..120eb90529316fad34fa03874c46fad29c8e51e7 100644
--- a/params/pointcloud_to_laserscan.yaml
+++ b/params/pointcloud_to_laserscan.yaml
@@ -15,4 +15,4 @@ use_inf: true
 # 0 : Detect number of cores
 # 1 : Single threaded
 # 2->inf : Parallelism level
-concurrency_level: 1
\ No newline at end of file
+concurrency_level: 1