move_base navigating robot to close to costmap?

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I'm experiencing an issue where anytime move_base sets a trajectory for the robot to follow, it inevitably falls too close to an obstacle and ends up scraping against it, or gets stuck in an escape loop where it keeps backing out in order to avoid the obstacle but repeats the same trajectory instead of re-planning. How can I discourage this behaviour?

move_base settings:
    TrajectoryPlannerROS:    
      acc_lim_x: 2.0
      acc_lim_theta:  1.0

      max_vel_x: 0.18
      min_vel_x: 0.05

      max_vel_theta: 1.57
      min_vel_theta: -1.57
      min_in_place_vel_theta: 0.314

      holonomic_robot: false
      escape_vel: -0.20

      yaw_goal_tolerance: 0.3
      xy_goal_tolerance: 0.35
      latch_xy_goal_tolerance: false

      sim_time: 4.0
      sim_granularity: 0.02
      angular_sim_granularity: 0.03
      vx_samples: 30
      vtheta_samples: 30
      controller_frequency: 20.0

      meter_scoring: true
      occdist_scale:  0.1
      pdist_scale: 0.4
      gdist_scale: 0.6    
      heading_lookahead: 1.0
      heading_scoring: false
      heading_scoring_timestep: 1.8
      dwa: true
      simple_attractor: false
      publish_cost_grid_pc: true

      oscillation_reset_dist: 0.4
      escape_reset_dist: 0.0
      escape_reset_theta: 0.4

    map_type: costmap
    origin_z: 0.0
    z_resolution: 1
    z_voxels: 2

    obstacle_range: 5.5 #2.5
    raytrace_range: 3.0

    publish_voxel_map: false
    transform_tolerance: 0.5
    meter_scoring: false

    footprint: [[-0.21, -0.165], [-0.21, 0.165], [0.21, 0.165], [0.21, -0.165]]
    footprint_padding: 0.045

    plugins:
    - {name: obstacles_layer, type: "costmap_2d::ObstacleLayer"}
    - {name: inflater_layer, type: "costmap_2d::InflationLayer"}

    obstacles_layer:
      observation_sources: scan
      scan: {sensor_frame: front_laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true, min_obstacle_height: -2.0, max_obstacle_height: 2.0, obstacle_range: 2.5, raytrace_range: 3.0}

    inflater_layer:
     inflation_radius: 0.06
    shutdown_costmaps: false

    controller_frequency: 10.0
    controller_patience: 5.0

    planner_frequency: 20.0
    planner_patience: 5.0

    oscillation_timeout: 0.0
    oscillation_distance: 0.5

    recovery_behavior_enabled: true
    clearing_rotation_allowed: true
    global_costmap:
       global_frame: map
       robot_base_frame: base_link
       update_frequency: 10.0
       publish_frequency: 5.0
       width: 40.0
       height: 40.0
       resolution: 0.02
       origin_x:  0.0
       origin_y:  0.0
       static_map: true
       rolling_window: false

       plugins:
       - {name: static_layer, type: "costmap_2d::StaticLayer"}
       - {name: obstacles_layer, type: "costmap_2d::ObstacleLayer"}
       - {name: inflater_layer, type: "costmap_2d::InflationLayer"}
    local_costmap:
       global_frame: map
       robot_base_frame: base_link
       update_frequency: 10.0
       publish_frequency: 5.0
       width: 10.0
       height: 10.0
       resolution: 0.02
       static_map: false
       rolling_window: true