diff --git a/waypoint_nav/launch/waypoint_nav.launch b/waypoint_nav/launch/waypoint_nav.launch
index a19d48e..654e341 100755
--- a/waypoint_nav/launch/waypoint_nav.launch
+++ b/waypoint_nav/launch/waypoint_nav.launch
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 
 <launch>
-    <arg name="waypoints_file"     default="$(find waypoint_nav)/waypoints_cfg/waypoints.yaml"/>
+    <arg name="waypoints_file"     default="waypoints.yaml"/>
     <arg name="StartFromTheMiddle" default="false"/>
     <arg name="cmd_vel_topic_in"   default="/move_base/cmd_vel"/>
     <arg name="cmd_vel_topic_out"  default="/wp_nav/cmd_vel"/>
diff --git a/waypoint_nav/scripts/tandem_run_manager.py b/waypoint_nav/scripts/tandem_run_manager.py
index 0ee297e..7182457 100755
--- a/waypoint_nav/scripts/tandem_run_manager.py
+++ b/waypoint_nav/scripts/tandem_run_manager.py
@@ -78,7 +78,8 @@
             
             if not self.in_tandem_area: return
             
-            min_range = np.min(msg.ranges[self.front_range[0]:self.front_range[1]])
+            sort_ranges = np.sort(msg.ranges[self.front_range[0]:self.front_range[1]])
+            min_range = np.mean(sort_ranges[:5])
             if (not self.stop) and (min_range < self.danger_dist):
                 self.stop_nav()
                 self.stop = True