diff --git a/src/planning_pkg/config/planning_2d_sim_mkmini.yaml b/src/planning_pkg/config/planning_2d_sim_mkmini.yaml
index d1d1b9a..954b0c4 100755
--- a/src/planning_pkg/config/planning_2d_sim_mkmini.yaml
+++ b/src/planning_pkg/config/planning_2d_sim_mkmini.yaml
@@ -77,7 +77,8 @@ global_costmap:
       global_frame: map
       robot_base_frame: base_link
       use_sim_time: True
-      footprint: "[ [0.42, 0.305], [0.42, -0.305], [-0.42, -0.305], [-0.42, 0.305] ]"
+      # Gazebo MK-mini collision bounds: 0.88 m long x 0.82 m wide.
+      footprint: "[ [0.44, 0.42], [0.44, -0.42], [-0.44, -0.42], [-0.44, 0.42] ]"
       resolution: 0.05
       track_unknown_space: true
       plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
@@ -101,7 +102,9 @@ global_costmap:
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"
         cost_scaling_factor: 2.0
-        inflation_radius: 1.5
+        # Keep a practical clearance around narrow indoor obstacles without
+        # forcing the car-like planner into unnecessarily large detours.
+        inflation_radius: 0.65
       always_send_full_costmap: True
 
 planner_server:
@@ -118,11 +121,15 @@ planner_server:
       max_iterations: 3000000
       max_on_approach_iterations: 5000
       max_planning_time: 10.0
+      # Normal navigation should remain forward-only. Reeds-Shepp creates
+      # forward/reverse cusps that Regulated Pure Pursuit can oscillate on.
       motion_model_for_search: "DUBIN"
       angle_quantization_bins: 144
       analytic_expansion_ratio: 3.5
       analytic_expansion_max_length: 5.0
-      minimum_turning_radius: 1.1
+      # tricycle_drive uses a 0.72 m wheelbase with a 0.5 rad steering limit.
+      # 0.72 / tan(0.5) is 1.32 m; keep a small planning margin.
+      minimum_turning_radius: 1.35
       change_penalty: 0.0
       non_straight_penalty: 1.5
       cost_penalty: 5.0