diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index d9250b5..c059873 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -548,7 +548,7 @@ planner_server:
       reverse_penalty: 1.3 # was 2.0               # Penalty to apply if motion is reversing, must be => 1
       change_penalty: 0.5 # was 0.0                # Penalty to apply if motion is changing directions (L to R), must be >= 0
       non_straight_penalty: 1.2           # Penalty to apply if motion is non-straight, must be => 1
-      cost_penalty: 2.0                   # Penalty to apply to higher cost areas when adding into the obstacle map dynamic programming distance expansion heuristic. This drives the robot more towards the center of passages. A value between 1.3 - 3.5 is reasonable.
+      cost_penalty: 3.0 # was 2 before                   # Penalty to apply to higher cost areas when adding into the obstacle map dynamic programming distance expansion heuristic. This drives the robot more towards the center of passages. A value between 1.3 - 3.5 is reasonable.
       retrospective_penalty: 0.015
       lookup_table_size: 20.0             # Size of the dubin/reeds-sheep distance window to cache, in meters.
       cache_obstacle_heuristic: true #was fasle     # Cache the obstacle map dynamic programming distance expansion heuristic between subsiquent replannings of the same goal location. Dramatically speeds up replanning performance (40x) if costmap is largely static.