eband_local_planner's command velocity is low

I use the eband_local_planner as the base_local_planner for my four mecanum wheels base, and the eband_local_planner_params is as follows: ---------- EBandPlannerROS: xy_goal_tolerance: 0.03 yaw_goal_tolerance: 0.05 rot_stopped_vel: 0.01 trans_stopped_vel: 0.01 marker_lifetime: 0.5 eband_min_relative_overlap: 0.7 eband_tiny_bubble_distance: 0.01 eband_tiny_bubble_expansion: 0.01 eband_internal_force_gain: 1.0 eband_external_force_gain: 2.0 num_iterations_eband_optimization: 3 eband_equilibrium_approx_max_recursion_depth: 4 eband_equilibrium_relative_overshoot: 0.75 eband_significant_force_lower_bound: 0.15 costmap_weight: 10.0 max_vel_lin: 0.8 max_vel_th: 0.6 min_vel_lin: 0.1 min_vel_th: 0.0 min_in_place_vel_th: 0.2 in_place_trans_vel: 0.0 k_prop: 4.0 k_damp: 3.5 Ctrl_Rate: 10.0 max_acceleration: 1.0 virtual_mass: 0.75 max_translational_acceleration: 1.0 max_rotational_acceleration: 1.2 rotation_correction_threshold: 0.5 differential_drive: false bubble_velocity_multiplier: 2.0 rotation_threshold_multiplier: 1.0 disallow_hysteresis: false ---------- From the above configure parameters, I have set the "**max_vel_lin**" is **0.8 m/s** . But in the test, I have found that the robot's max_speed is only **0.43m/s**. I have tune some parameters: **k_drop, k_damp, eband_tiny_bubble_distance**, etc. I have increase and decrease such parameters, but the robot's max_speed is also about 0.43 m/s. I don't know how to tune which parameters to **increase the robot's speed**. By the way , I use **dwa_local_planner** the robot's max_speed can meet the requirements.