Is there a local planner for car like motions? DWA planner struggles on path's end

edit

Hi,

I'm using dwa_local_planner/DWAPlannerROS as local planner and, global_planner/GlobalPlanner as global planner.

When the goal point is in near to obstacles(1), Robot tries going directly to goal, it doesn't thinks about rotating at goal point. So, It stucks(2) at the end:

[ WARN] [1455116051.009469819, 8907.527000000]: DWA planner failed to produce path.
[ WARN] [1455116051.230953083, 8907.627000000]: Rotate recovery behavior started.
[ERROR] [1455116051.231075332, 8907.627000000]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00

Here is screenshot:

EDIT: I've set forward_point_distance to 0.0 and vy_samples to 0 by this answer, now robot tries better ways but struggling at goal point's near too (its not about goal tolerance, struggling at far than the 0.06). I've just updated navigation from ubuntu's repo's. I'll add screenshots after looking how the new packages works.

EDIT2: After updating navigation packages, It is trying to escape infinitely with struggling with little movements at near to end of the path, changing path_distance_bias and goal_distance_bias parameters doesn't make sense:

[ INFO] [1455190327.742058584, 6646.566000000]: Got new plan
[ INFO] [1455190327.908304049, 6646.664000000]: Got new plan
[ INFO] [1455190328.263322957, 6646.864000000]: Got new plan
[ INFO] [1455190328.617373718, 6647.064000000]: Got new plan
[ INFO] [1455190328.925895750, 6647.264000000]: Got new plan
[ INFO] [1455190329.222412376, 6647.465000000]: Got new plan

And screenshot:

Here is video. How can I configure dwa_local_planner to create 3rd screenshot's like plan? (Or Can I configure?) (Or Are there any global planner to operate this?)

Here is all parameters:

DWAPlannerROS:

  use_dwa: true
  # Robot Configuration Parameters
  acc_lim_x: 20.0
  acc_lim_y: 0.0
  acc_lim_theta: 10.0
  acc_limit_trans: 0.1

  max_trans_vel: 0.55
  min_trans_vel: 0.01 
  trans_stopped_vel: 0.01
  rot_stopped_vel: 0.01

  max_vel_x: 0.55
  min_vel_x: -0.55

  max_vel_y: 0.0
  min_vel_y: 0.0

  max_rot_vel: 1.5
  min_rot_vel: 0.02

  # Goal Tolerance Parameters
  yaw_goal_tolerance: 0.03
  xy_goal_tolerance: 0.06
  latch_xy_goal_tolerance: false

  # Forward Simulation Parameters
  sim_time: 1.0
  sim_granularity: 0.1
  vx_samples: 15
  vy_samples: 10
  vtheta_samples: 20
  controller_frequency: 10.0

  # Trajectory Scoring Parameters
  path_distance_bias: 0.0  #32.0
  goal_distance_bias: 24.0 
  occdist_scale: 0.01 
  forward_point_distance: 0.0 # 2.0 # 0.325 
  stop_time_buffer: 0.2 
  scaling_speed: 0.25 
  max_scaling_factor: 0.2 

  #Oscillation Prevention Parameters
  oscillation_reset_dist: 0.05 
  oscillation_reset_angle: 0.2
  prune_plan: false

TrajectoryPlannerROS: # For RotateRecovery
  yaw_goal_tolerance: 0.03
  acc_lim_th: 10.0
  max_rotational_vel: 1.0
  min_in_place_rotational_vel: -1.0

EDIT3: Added video and updated some parameters.