diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml
index c2dc1c71aa..9da82ce6e2 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml
@@ -22,6 +22,9 @@ move_base:
   # base_local_planner: base_local_planner/TrajectoryPlannerROS
   GlobalPlanner:
     allow_unknown: true
+    neural_cost: 50
+    lethal_cost: 253
+    cost_factor: 0.8
     default_tolerance: 0.0
     orientation_mode: 1
     visualize_potential: false