diff --git a/config/dwa_base_local_planner_params.yaml b/config/dwa_base_local_planner_params.yaml
index 88dab7e..195b8ed 100644
--- a/config/dwa_base_local_planner_params.yaml
+++ b/config/dwa_base_local_planner_params.yaml
@@ -21,7 +21,7 @@ DWAPlannerROS:
    latch_xy_goal_tolerance: false
    pdist_scale: 0.8
    gdist_scale: 0.6
-   meter_scoring: true
+   #meter_scoring: true
 
    heading_lookahead: 0.325
    heading_scoring: false
@@ -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: 2.0 #0.5            # 0.01   - weighting for how much the controller should avoid obstacles
+   occdist_scale: 10.0 #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