diff --git a/params/global_planner/sbpl_params.yaml b/params/global_planner/sbpl_params.yaml
index 7a04ffd3971b44a593c7b577687c4cd078b50a10..6ed3571f0c8c02c9c5a3af7593d4c821a742e5f2 100644
--- a/params/global_planner/sbpl_params.yaml
+++ b/params/global_planner/sbpl_params.yaml
@@ -1,2 +1,11 @@
 base_global_planner: "SBPLLatticePlanner"
 SBPLLatticePlanner:
+  planner_type: "ADPlanner"
+  allocated_time: 10
+  initial_epsilon: 3.0
+  environment_type: "XYThetaLattice"
+  forward_search: false
+  force_scratch_limit: 500
+  nominalvel_mpersecs: 0.4
+  timetoturn45degsinplace_secs: 0.6
+  lethal_obstacle: 255