diff --git a/config/dwa_base_local_planner_params.yaml b/config/dwa_base_local_planner_params.yaml
index 0bc636a..88dab7e 100644
--- a/config/dwa_base_local_planner_params.yaml
+++ b/config/dwa_base_local_planner_params.yaml
@@ -1,4 +1,4 @@
-controller_frequency: 2.0 #20.0 #5.0
+controller_frequency: 3.0 #20.0 #5.0
 recovery_behavior_enabled: true #false
 clearing_rotation_allowed: true #false
 
@@ -9,7 +9,7 @@ DWAPlannerROS:
    min_vel_x: 0.1 #0.2
    max_vel_y: 0.0  # zero for a differential drive robot
    min_vel_y: 0.0
-   min_in_place_vel_theta: 0.5
+   min_in_place_vel_theta: 0.1 #0.5
    escape_vel: -0.1
    acc_lim_x: 0.5
    acc_lim_y: 0.0 # zero for a differential drive robot
@@ -32,7 +32,7 @@ DWAPlannerROS:
    prune_plan: true
 
    # Forward Simulation Parameters
-   sim_time: 5.0 #1.0 #5.0 #2.5
+   sim_time: 2.5 #5.0 #1.0 #5.0 #2.5
    sim_granularity: 0.025
    angular_sim_granularity: 0.025
    vx_samples: 8
@@ -44,7 +44,7 @@ DWAPlannerROS:
    # # Trajectory Scoring Parameters
    path_distance_bias: 64.0      # 32.0   - weighting for how much it should stick to the global path plan
    goal_distance_bias: 24.0      # 24.0   - wighting for how much it should attempt to reach its goal
-   occdist_scale: 0.5            # 0.01   - weighting for how much the controller should avoid obstacles
+   occdist_scale: 2.0 #0.5            # 0.01   - weighting for how much the controller should avoid obstacles
    forward_point_distance: 0.325 # 0.325  - how far along to place an additional scoring point
    stop_time_buffer: 0.2         # 0.2    - amount of time a robot must stop in before colliding for a valid traj.
    scaling_speed: 0.25           # 0.25   - absolute velocity at which to start scaling the robot's footprint