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This sounds like a common behavior if the robot gets close to the goal, but is just outside it's tolerance. So it drives in a small circle to try to get closer to the goal position than it's current pose.

There's a guide for tuning the navigation stack here with links to several other resources: http://wiki.ros.org/navigation/Tutorials/Navigation%20Tuning%20Guide

You probably want to slightly increase the tolerance for the goals so that the robot doesn't continue to hunt once it gets there.