diff --git a/config/params.yaml b/config/params.yaml
index 621fb7cd8c332ed549b236907aa40d80c39461c9..94917a2faa4a152883e5fab2f9a3ecb39660aa3e 100644
--- a/config/params.yaml
+++ b/config/params.yaml
@@ -24,5 +24,5 @@ buffer_size: 10
 scan_diff_t_from_collision: 0.1
 front_laser_en: True
 rear_laser_en: True
-icp_min_points: 260
+icp_min_points: 200
 icp_max_err_by_points: 0.4