diff --git a/config/params.yaml b/config/params.yaml
index 4cafbc8460fe53d6f7319d39712dd37804670860..010c126af4ac75bd4a8e0febf671a50f9f6fe468 100644
--- a/config/params.yaml
+++ b/config/params.yaml
@@ -10,19 +10,19 @@ watchdog_t: 1.0
 collision_timeout: 5.0
 collision_acc_transition_counter_en: True
 collision_acc_th: 5.0
-collision_acc_counter_limit: 20
+collision_acc_counter_limit: 10
 collision_ang_vel_transition_counter_en: True
 collision_ang_vel_th: 0.4
 #collision_ang_vel_th: 0.2
-collision_ang_vel_counter_limit: 20
+collision_ang_vel_counter_limit: 10
 odom_trans_th: 0.2
 odom_angular_th: 0.15
 
 front_laser_en: True
 rear_laser_en: True
 buffer_size: 10
-scan_diff_t_from_collision: 0.1
+scan_diff_t_from_collision: 0.0
 front_laser_en: True
 rear_laser_en: True
-icp_min_points: 80
+icp_min_points: 200
 icp_max_err_by_points: 0.3