diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index e79f188..6601504 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -140,7 +140,7 @@ controller_server:
     FollowPath:
       plugin: "dwb_core::DWBLocalPlanner"
       debug_trajectory_details: True
-      min_vel_x: 0.0
+      min_vel_x: -0.1
       min_vel_y: 0.0
       max_vel_x: 0.26
       max_vel_y: 0.0
@@ -167,7 +167,7 @@ controller_server:
       trans_stopped_velocity: 0.25
       short_circuit_trajectory_evaluation: True
       stateful: True
-      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
+      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist", ""]
       BaseObstacle.scale: 0.02
       PathAlign.scale: 32.0
       PathAlign.forward_point_distance: 0.1