Less number of occupancy grids

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Hello,

I am running a gmapping package and creating a map. I have used a standard resolution of 0.05. After I have finished with the mapping my next step is to create a path plan. For that, I have used a global_planner from navigation stack. As my robot is very simple it cannot take curve tracks therefore I needed a simple path planning algorithm and used a parameter use_grid_map. Still, the plan seems to count too many steps for simple linear goal. So instead of turning and going straight to the goal, the path plan estimates too many trajectories.

Is it due to the fact that the gmapping produces too many occupancy grids or is it something in global_planner? What can I do?