diff --git a/params/amcl.yaml b/params/amcl.yaml
index 7d770bec4c12d388f42399baa9627d899ce7bf00..9dc4424e7698cbb4631b789518ba414243088dd1 100644
--- a/params/amcl.yaml
+++ b/params/amcl.yaml
@@ -10,12 +10,12 @@ min_particles: 100
 max_particles: 5000
 kld_err: 0.01
 kld_z: 0.99
-update_min_d: 0.1
-update_min_a: 0.1
+update_min_d: 0.2
+update_min_a: 0.2
 resample_interval: 2
 transform_tolerance: 0.1
-recovery_alpha_slow: 0.1
-recovery_alpha_fast: 0.5
+recovery_alpha_slow: 0.0
+recovery_alpha_fast: 0.0
 initial_cov_xx: 0.25
 initial_cov_yy: 0.25
 initial_cov_aa: 0.0685
@@ -37,8 +37,8 @@ laser_likelihood_max_dist: 2.0
 laser_model_type: 'likelihood_field'
 # odom parameters
 odom_model_type: "diff"
-odom_alpha1: 5.0
-odom_alpha2: 5.0
+odom_alpha1: 1.0
+odom_alpha2: 1.0
 odom_alpha3: 0.2
 odom_alpha4: 0.2
 odom_alpha5: 0.2