Virtual robot speed reduce when approaching to corner

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Hi everyone

I has a problem related to my simulation, I am currently running a simulation on teb_local_planner.

When I run my simulation, I found out that my robot become very slow in situation that have to go around the corner.

like this video https://www.youtube.com/watch?v=bf8ig...

here is my paste bin for the teb_local_planner_param.yaml file http://pastebin.com/7VVJ0kSL

It report warning like below

[ WARN] [1473995722.552885072, 92.600000000]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 0.6000 seconds
[ WARN] [1473995723.131613002, 93.100000000]: Control loop missed its desired rate of 5.0000Hz... the loop actually took 0.5000 seconds
[ WARN] [1473995723.132625078, 93.100000000]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 0.5000 seconds
[ WARN] [1473995724.218327309, 94.200000000]: Control loop missed its desired rate of 5.0000Hz... the loop actually took 1.1000