diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index 00da132..b8a2d89 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -408,7 +408,7 @@ controller_server:
       use_rotate_to_heading: true
       allow_reversing: true
       rotate_to_heading_min_angle: 0.785
-      max_angular_accel: 3.2
+      max_angular_accel: 1.2
       max_robot_pose_search_dist: 10.0
       use_interpolation: true
 
@@ -545,7 +545,7 @@ planner_server:
       analytic_expansion_ratio: 3.5       # The ratio to attempt analytic expansions during search for final approach.
       analytic_expansion_max_length: 3.0  # For Hybrid/Lattice nodes: The maximum length of the analytic expansion to be considered valid to prevent unsafe shortcutting
       minimum_turning_radius: 0.15 # was 0.40        # minimum turning radius in m of path / vehicle
-      reverse_penalty: 2.0                # Penalty to apply if motion is reversing, must be => 1
+      reverse_penalty: 1.0 # 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.