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I think You can try changing the following parameters.

Adjust path_distance_bias, goal_distance_bias, and occdist_scale. In particular, it is recommended to increase the path_distance_bias.

Make acc_lim_th smaller. It will reduce the possibility of selecting a curve. Note that this will also reduce the selection of curves under normal conditions.

ref: http://wiki.ros.org/dwa_local_planner

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