diff --git a/.gitmodules b/.gitmodules
index dbfc26f..3168e0f 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -28,3 +28,6 @@
 [submodule "src/Libraries/xmlrpcpp"]
 	path = src/Libraries/xmlrpcpp
 	url = https://git.pnkr.asia/DuongTD/xmlrpcpp.git
+[submodule "src/Libraries/laser_filter"]
+	path = src/Libraries/laser_filter
+	url = https://git.pnkr.asia/DuongTD/laser_filter.git
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2a0f509..f949b57 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -74,6 +74,10 @@ if (NOT TARGET robot_nav_2d_utils)
     add_subdirectory(${CMAKE_SOURCE_DIR}/src/Libraries/robot_nav_2d_utils) 
 endif()
 
+if (NOT TARGET laser_filter)
+    add_subdirectory(${CMAKE_SOURCE_DIR}/src/Libraries/laser_filter) 
+endif()
+
 if (NOT TARGET robot_nav_core)
     add_subdirectory(${CMAKE_SOURCE_DIR}/src/Navigations/Cores/robot_nav_core)
 endif()
diff --git a/config/pnkx_local_planner_params.yaml b/config/pnkx_local_planner_params.yaml
index 4783027..cf46a84 100644
--- a/config/pnkx_local_planner_params.yaml
+++ b/config/pnkx_local_planner_params.yaml
@@ -41,8 +41,8 @@ PNKXRotateLocalPlanner:
     
 LimitedAccelGenerator:
   library_path: libmkt_plugins_standard_traj_generator
-  max_vel_x: 0.2
-  min_vel_x: -0.2
+  max_vel_x: 1.0
+  min_vel_x: -1.0
 
   max_vel_y: 0.0  # diff drive robot
   min_vel_y: 0.0  # diff drive robot
@@ -50,7 +50,7 @@ LimitedAccelGenerator:
   max_speed_xy: 2.0    # max_trans_vel: 0.8  # choose slightly less than the base's capability
   min_speed_xy: 0.25    # min_trans_vel: 0.1  # this is the min trans velocity when there is negligible rotational velocity
 
-  max_vel_theta: 0.7   # max_rot_vel: 1.0  # choose slightly less than the base's capability
+  max_vel_theta: 0.4   # max_rot_vel: 1.0  # choose slightly less than the base's capability
   min_vel_theta: 0.05 # min_rot_vel: 0.1 default: 0.4  # this is the min angular velocity when there is negligible translational velocity
 
   acc_lim_x: 1.5
diff --git a/src/Libraries/laser_filter b/src/Libraries/laser_filter
new file mode 160000
index 0000000..db25b6b
--- /dev/null
+++ b/src/Libraries/laser_filter
@@ -0,0 +1 @@
+Subproject commit db25b6bb2845d7389d86824b5221ade1c6538bb3
diff --git a/src/Navigations/Packages/move_base/CMakeLists.txt b/src/Navigations/Packages/move_base/CMakeLists.txt
index ae8564e..f1af110 100644
--- a/src/Navigations/Packages/move_base/CMakeLists.txt
+++ b/src/Navigations/Packages/move_base/CMakeLists.txt
@@ -45,6 +45,7 @@ if (NOT BUILDING_WITH_CATKIN)
     robot_nav_2d_utils
     robot_cpp
     robot_move_base_msgs
+    laser_filter
   )
   find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
 else()
diff --git a/src/Navigations/Packages/move_base/src/move_base.cpp b/src/Navigations/Packages/move_base/src/move_base.cpp
index 0b22f55..aef61aa 100644
--- a/src/Navigations/Packages/move_base/src/move_base.cpp
+++ b/src/Navigations/Packages/move_base/src/move_base.cpp
@@ -31,6 +31,7 @@
 #include <robot_sensor_msgs/PointCloud.h>
 #include <robot_sensor_msgs/PointCloud2.h>
 #include <robot_nav_2d_utils/conversions.h>
+#include <laser_filter/laser_filter.h>
 
 move_base::MoveBase::MoveBase()
   : initialized_(false),
@@ -499,13 +500,17 @@ robot_nav_msgs::OccupancyGrid move_base::MoveBase::getStaticMap(const std::strin
 void move_base::MoveBase::addLaserScan(const std::string &laser_scan_name, robot_sensor_msgs::LaserScan laser_scan)
 {
   auto it = laser_scans_.find(laser_scan_name);
+  laser_filter::LaserScanSOR sor;
+  sor.setMeanK(10);              // xét 10 điểm láng giềng gần nhất
+  sor.setStddevMulThresh(1.0);   // ngưỡng = mean + 1.0 * stddev
+  robot_sensor_msgs::LaserScan laser_scan_filter = sor.filter(laser_scan);
   if (it == laser_scans_.end())
   {
-    laser_scans_[laser_scan_name] = laser_scan;
+    laser_scans_[laser_scan_name] = laser_scan_filter;
   }
   else
   {
-    it->second = laser_scan;
+    it->second = laser_scan_filter;
   }
   // robot::log_info("stamp: %ld.%ld", laser_scan.header.stamp.sec, laser_scan.header.stamp.nsec);
   // robot::log_info("frame_id: %s", laser_scan.header.frame_id.c_str());
@@ -529,8 +534,8 @@ void move_base::MoveBase::addLaserScan(const std::string &laser_scan_name, robot
   // }
   // robot::log_error("intensities: %s", intensities_str.str().c_str());
 
-  updateLocalCostmap<robot_sensor_msgs::LaserScan>(laser_scan, robot_costmap_2d::LayerType::VOXEL_LAYER, laser_scan_name);
-  updateGlobalCostmap<robot_sensor_msgs::LaserScan>(laser_scan, robot_costmap_2d::LayerType::VOXEL_LAYER, laser_scan_name);
+  updateLocalCostmap<robot_sensor_msgs::LaserScan>(laser_scan_filter, robot_costmap_2d::LayerType::VOXEL_LAYER, laser_scan_name);
+  updateGlobalCostmap<robot_sensor_msgs::LaserScan>(laser_scan_filter, robot_costmap_2d::LayerType::VOXEL_LAYER, laser_scan_name);
 }
 
 robot_sensor_msgs::LaserScan move_base::MoveBase::getLaserScan(const std::string &laser_scan_name)