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First, read the wiki page for base local planner which is the dwa planner. If you want a deeper understanding, read Dynamic Window Approach by Fox et al.

Read Navigation tuning guide by Kaizhu Zheng as pointed by @thazz

rosrun rqt_reconfigure rqt_reconfigure and start playing with the parameters and observing the behaviour of your robot.

This should do majority of the job.

If you face any problem search for related questions. You'll find a lot of pre-existing help with the topic