Error during localization with AMCL [closed]

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Hi,

I'm using the navigation stack and the Corobot. If I run the corobot with a velocity of 0.2 m/s everything works fine, but if I change my velocity to 0,4 m/s after some time the robot can't localize itself in the given map.
I think it should be a problem of the amcl node.
I'm using an IMU and a laser.

Here is my amcl.launch file

<launch>
    <!--group ns="corobot/amcl" -->
    <node pkg="amcl" type="amcl" name="amcl" output="screen" >
        <!-- Publish scans from best pose at a max of 10 Hz -->
        <param name="odom_model_type" value="diff"/>
        <param name="odom_alpha5" value="0.1"/>
        <param name="transform_tolerance" value="0.2" />
        <param name="gui_publish_rate" value="10.0"/>
        <param name="laser_max_beams" value="30"/>
        <param name="min_particles" value="200"/>
        <param name="max_particles" value="1000"/>
        <!--param name="min_particles" value="1500"/>
        <param name="max_particles" value="10000"/-->
        <param name="kld_err" value="0.05"/>
        <param name="kld_z" value="0.99"/>
        <!-- with imu -->   
        <param name="odom_alpha1" value="0.3"/>
        <param name="odom_alpha2" value="0.2"/>
        <param name="odom_alpha3" value="0.2"/>
        <param name="odom_alpha4" value="0.1"/>
        <!-- without imu
                <param name="odom_alpha1" value="0.3"/>
        <param name="odom_alpha2" value="0.2"/>
        <param name="odom_alpha3" value="0.2"/>
        <param name="odom_alpha4" value="0.1"/>
        -->

        <param name="laser_z_hit" value="0.5"/>
        <param name="laser_z_short" value="0.05"/>
        <param name="laser_z_max" value="0.05"/>
        <param name="laser_z_rand" value="0.5"/>
        <param name="laser_sigma_hit" value="0.2"/>
        <param name="laser_lambda_short" value="0.1"/>
        <param name="laser_lambda_short" value="0.1"/>
        <param name="laser_model_type" value="likelihood_field"/>
        <!-- <param name="laser_model_type" value="beam"/> -->
        <param name="laser_likelihood_max_dist" value="2.0"/>
        <param name="update_min_d" value="0.2"/>
        <param name="update_min_a" value="0.5"/>
        <param name="odom_frame_id" value="odom"/>
        <param name="resample_interval" value="1"/>
        <param name="transform_tolerance" value="0.1"/>
        <param name="recovery_alpha_slow" value="0.0"/>
        <param name="recovery_alpha_fast" value="0.0"/>
        <param name="use_map_topic" value="true"/>
    </node>
    <!--/group-->
</launch>

Any help?
Thank you in advance

EDIT:

I added a bag file with /scan /tf /map and /odom. In the bag files is recorded an initial localization phase, 2/3 path planning that succeded in reaching the goal a path planning in wich the robot get lost. https://www.dropbox.com/s/n0ldecwckxms0wy/2013-04-29-12-15-11.bag.gz