diff --git a/config/dwa_base_local_planner_params.yaml b/config/dwa_base_local_planner_params.yaml
index e0e9935..f51cb13 100644
--- a/config/dwa_base_local_planner_params.yaml
+++ b/config/dwa_base_local_planner_params.yaml
@@ -4,9 +4,9 @@ clearing_rotation_allowed: false
 
 DWAPlannerROS:
    max_vel_trans: 1.0
-   min_vel_trans: 0.1 #0.2
+   min_vel_trans: 0.2
    max_vel_x: 1.0
-   min_vel_x: 0.1 #0.2
+   min_vel_x: 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
@@ -32,7 +32,7 @@ DWAPlannerROS:
    prune_plan: true
 
    # Forward Simulation Parameters
-   sim_time: 2.5
+   sim_time: 5.0 #2.5
    sim_granularity: 0.025
    angular_sim_granularity: 0.025
    vx_samples: 8
@@ -48,4 +48,4 @@ DWAPlannerROS:
    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
-   max_scaling_factor: 0.2       # 0.2    - how much to scale the robot's footprint when at speed.
\ No newline at end of file
+   max_scaling_factor: 0.2       # 0.2    - how much to scale the robot's footprint when at speed.