diff --git a/cfg/TebLocalPlannerReconfigure.cfg b/cfg/TebLocalPlannerReconfigure.cfg
index fe310357..7d38c79b 100755
--- a/cfg/TebLocalPlannerReconfigure.cfg
+++ b/cfg/TebLocalPlannerReconfigure.cfg
@@ -92,6 +92,10 @@ grp_robot.add("max_vel_x", double_t, 0,
 	"Maximum translational velocity of the robot",
 	0.4, 0.01, 100)   
 
+grp_robot.add("min_vel_x", double_t, 0, 
+	"Minimum translational velocity of the robot",
+	0.00, 0.00, 100)   
+
 grp_robot.add("max_vel_x_backwards", double_t, 0, 
 	"Maximum translational velocity of the robot for driving backwards",
 	0.2, 0.01, 100)   
diff --git a/include/teb_local_planner/teb_config.h b/include/teb_local_planner/teb_config.h
index cc7c531b..1231eb3a 100644
--- a/include/teb_local_planner/teb_config.h
+++ b/include/teb_local_planner/teb_config.h
@@ -93,6 +93,7 @@ class TebConfig
   struct Robot
   {
     double max_vel_x; //!< Maximum translational velocity of the robot
+    double min_vel_x; //!< Minimum translational velocity of the robot
     double max_vel_x_backwards; //!< Maximum translational velocity of the robot for driving backwards
     double max_vel_y; //!< Maximum strafing velocity of the robot (should be zero for non-holonomic robots!)
     double max_vel_theta; //!< Maximum angular velocity of the robot
diff --git a/include/teb_local_planner/teb_local_planner_ros.h b/include/teb_local_planner/teb_local_planner_ros.h
index 0fcc8494..ca12fe98 100644
--- a/include/teb_local_planner/teb_local_planner_ros.h
+++ b/include/teb_local_planner/teb_local_planner_ros.h
@@ -351,11 +351,12 @@ class TebLocalPlannerROS : public nav_core::BaseLocalPlanner, public mbf_costmap
    * @param[in,out] vy Strafing velocity which can be nonzero for holonomic robots
    * @param[in,out] omega The angular velocity that should be saturated.
    * @param max_vel_x Maximum translational velocity for forward driving
+   * @param min_vel_x Minimum translational velocity for forward driving
    * @param max_vel_y Maximum strafing velocity (for holonomic robots)
    * @param max_vel_theta Maximum (absolute) angular velocity
    * @param max_vel_x_backwards Maximum translational velocity for backwards driving
    */
-  void saturateVelocity(double& vx, double& vy, double& omega, double max_vel_x, double max_vel_y,
+  void saturateVelocity(double& vx, double& vy, double& omega, double max_vel_x, double min_vel_x, double max_vel_y,
                         double max_vel_theta, double max_vel_x_backwards) const;
 
   
diff --git a/src/teb_config.cpp b/src/teb_config.cpp
index a5e4d843..e3669a1b 100644
--- a/src/teb_config.cpp
+++ b/src/teb_config.cpp
@@ -72,6 +72,7 @@ void TebConfig::loadRosParamFromNodeHandle(const ros::NodeHandle& nh)
   
   // Robot
   nh.param("max_vel_x", robot.max_vel_x, robot.max_vel_x);
+  nh.param("min_vel_x", robot.min_vel_x, robot.min_vel_x);
   nh.param("max_vel_x_backwards", robot.max_vel_x_backwards, robot.max_vel_x_backwards);
   nh.param("max_vel_y", robot.max_vel_y, robot.max_vel_y);
   nh.param("max_vel_theta", robot.max_vel_theta, robot.max_vel_theta);
@@ -199,10 +200,10 @@ void TebConfig::reconfigure(TebLocalPlannerReconfigureConfig& cfg)
   trajectory.feasibility_check_no_poses = cfg.feasibility_check_no_poses;
   trajectory.publish_feedback = cfg.publish_feedback;
   trajectory.control_look_ahead_poses = cfg.control_look_ahead_poses;
-  trajectory.prevent_look_ahead_poses_near_goal = cfg.prevent_look_ahead_poses_near_goal;
   
   // Robot     
   robot.max_vel_x = cfg.max_vel_x;
+  robot.min_vel_x = cfg.min_vel_x;
   robot.max_vel_x_backwards = cfg.max_vel_x_backwards;
   robot.max_vel_y = cfg.max_vel_y;
   robot.max_vel_theta = cfg.max_vel_theta;
diff --git a/src/teb_local_planner_ros.cpp b/src/teb_local_planner_ros.cpp
index e83747ef..a65c166e 100644
--- a/src/teb_local_planner_ros.cpp
+++ b/src/teb_local_planner_ros.cpp
@@ -421,7 +421,7 @@ uint32_t TebLocalPlannerROS::computeVelocityCommands(const geometry_msgs::PoseSt
   
   // Saturate velocity, if the optimization results violates the constraints (could be possible due to soft constraints).
   saturateVelocity(cmd_vel.twist.linear.x, cmd_vel.twist.linear.y, cmd_vel.twist.angular.z,
-                   cfg_.robot.max_vel_x, cfg_.robot.max_vel_y, cfg_.robot.max_vel_theta, cfg_.robot.max_vel_x_backwards);
+                   cfg_.robot.max_vel_x, cfg_.robot.min_vel_x, cfg_.robot.max_vel_y, cfg_.robot.max_vel_theta, cfg_.robot.max_vel_x_backwards);
 
   // convert rot-vel to steering angle if desired (carlike robot).
   // The min_turning_radius is allowed to be slighly smaller since it is a soft-constraint
@@ -869,12 +869,25 @@ double TebLocalPlannerROS::estimateLocalGoalOrientation(const std::vector<geomet
 }
       
       
-void TebLocalPlannerROS::saturateVelocity(double& vx, double& vy, double& omega, double max_vel_x, double max_vel_y, double max_vel_theta, double max_vel_x_backwards) const
+void TebLocalPlannerROS::saturateVelocity(double& vx, double& vy, double& omega, double max_vel_x, double max_vel_y, double max_vel_theta, double max_vel_x_backwards, double min_vel_x) const
 {
-  double ratio_x = 1, ratio_omega = 1, ratio_y = 1;
-  // Limit translational velocity for forward driving
-  if (vx > max_vel_x)
-    ratio_x = max_vel_x / vx;
+  double ratio_x = 1, ratio_omega = 1, ratio_y = 1, ratio_x_min = 1;
+
+  // backward driving
+  if (vx < 0)
+  {  
+    if (vx < -max_vel_x_backwards)
+      ratio_x = -max_vel_x_backwards / vx;
+    else if (vx > -min_vel_x)
+      ratio_x = -min_vel_x / vx;
+  }
+  else // forward driving
+  {
+    if (vx > max_vel_x)
+      ratio_x = max_vel_x / vx;
+    else if (vx < min_vel_x)
+      ratio_x = min_vel_x / vx;
+  }
   
   // limit strafing velocity
   if (vy > max_vel_y || vy < -max_vel_y)