# Teb Local Planner : Increasing x linear velocity

Hi,

I'm currently using the teb local planner for a tricycle robot and it gives good results but I would like to i Increasing the max_vel_x parameter doesn't seem to change the speed and I am having a hard time with it with all the optimization parameters. Increasing the maximum x linear velocity doesn't change anything and cmd_vel remains around 0.25/0.3 m/s maximum.

I looked a bit at the the teb questions and it seems for example, that putting weight_acc_lim* to 0.0 or changing the footprint model would reduce computation time . When setting weight_acc_lim* to 0.0, the robot is not able to move anymore and the error " trajectory not feasible" appears on every goal I am trying to send.

Here is my current configuration for teb local planner :

**TebLocalPlannerROS:**

odom_topic: odom map_frame: /odom

**# Trajectory**

teb_autosize: True

dt_ref: 0.3

dt_hysteresis: 0.1

global_plan_overwrite_orientation: True

allow_init_with_backwards_motion: False

max_global_plan_lookahead_dist: 1.5

feasibility_check_no_poses: 5

**# Robot**

max_vel_x: 0.8

max_vel_x_backwards: 0.2

max_vel_y: 0.0

max_vel_theta: 0.4

acc_lim_x: 0.15

acc_lim_y: 0.0

acc_lim_theta: 0.05

**# Carlike robot parameters**

min_turning_radius: 0.15 # Min turning radius of the carlike robot (compute value using a model or adjust with rqt_reconfigure manually)

wheelbase: 0.864 # Wheelbase of our robot

cmd_angle_instead_rotvel: True # stage simulator takes the angle instead of the rotvel as input (twist message)

**footprint_model:** # types: "point", "circular", "two_circles", "line", "polygon"

```
type: "polygon"
radius: 0.2 # for type "circular"
line_start: [0.0, 0.0] # for type "line"
line_end: [0.4, 0.0] # for type "line"
front_offset: 0.2 # for type "two_circles"
front_radius: 0.2 # for type "two_circles"
rear_offset: 0.2 # for type "two_circles"
rear_radius: 0.2 # for type "two_circles"
vertices: [[1.1,0.4],[-0.3,0.4],[-0.3,-0.4],[1.1,-0.4]]
```

**# GoalTolerance**

xy_goal_tolerance: 0.2

yaw_goal_tolerance: 0.2

free_goal_vel: False

**# Obstacles**

min_obstacle_dist: 0.5

include_costmap_obstacles: True

costmap_obstacles_behind_robot_dist: 1

obstacle_poses_affected: 30

costmap_converter_plugin: ""

costmap_converter_spin_thread: True

costmap_converter_rate: 5

**# Optimization**

no_inner_iterations: 5

no_outer_iterations: 4

optimization_activate: True

optimization_verbose: False

penalty_epsilon: 0.05

weight_max_vel_x: 590

weight_max_vel_theta: 120

weight_acc_lim_x: 370

weight_acc_lim_theta: 200

weight_kinematics_nh: 10000

weight_kinematics_forward_drive: 1000

weight_kinematics_turning_radius: 300

weight_optimaltime: 860

weight_obstacle: 50

weight_dynamic_obstacle: 10 # not in use yet

**# Homotopy Class Planner**

enable_homotopy_class_planning: True

enable_multithreading: True

simple_exploration: False

max_number_classes: 4

selection_cost_hysteresis: 1.0

selection_obst_cost_scale: 1.0

selection_alternative_time_cost: False

roadmap_graph_no_samples: 15

roadmap_graph_area_width: 5

h_signature_prescaler: 0.5

h_signature_threshold: 0.1

obstacle_keypoint_offset: 0.1

obstacle_heading_threshold: 0.45

visualize_hc_graph: False

I tried lots of combinations with rqt_recofnigure and this one gives good results except that i seems to block the linear velocity to small values. I would like to rpevent the robot from going backwards and avoid obstacles coming on its way. Is there any parameters changes that could help keep this characteristics while increasing the velocity of the robot.

Thanks !