How to limit navigation planner plan in specific area on the map, i.e just from the middle of corridors?

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You may use the costmap_prohibition_layer plugin (http://wiki.ros.org/costmap_prohibiti...).

This will be useful in adding prohibition areas to cost map 2D. The user can define prohibited regions in a YAML file in world coordinates.

You can probably achieve such behavior by either tuning the (existing) global and/or local costmaps or by defining your own costmap layer. See http://wiki.ros.org/costmap_2d and http://wustl.probablydavid.com/public...

I'm not aware of a strict way of programming this behavior but there are parameters that you can tune that may result in the behavior that you are looking for.

Try increasing occdist_scale in your dwa_local_planner_params.yaml file. This will increase the weight for how much the controller tries to avoid objects.

Also, try increasing the inflation_radius in your costmap_common_params.yaml file. This will increase the radius in meters to which the map inflates obstacle cost values.

Be careful with the inflation_radius though. If it is too high, then the robot will be unable to navigate through tight spaces.