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I found a solution ! Hector Exploration Controller is calling the Hector Path Follower node. In this node there is some parameter like tolerance_trans or tolerance_rot. Changing the default parameters from 0.1 and 0.2 to 0.3 for both, the robot is not turning on itself anymore. Moreover, the acceleration and the stop was very strong. So I decrease the k_trans and the k_rot for the gain in translation and rotation and it's now smoother.

I hope it will help someone else trying to use the solutions provided by Hector Team ;)