# teb_local_planner having difficulty making a 90 degree turn

HI All I have applied the teb_local_planner to my move_base for for my physical car like robot.. It reaches the goals i set successfully in my living room when just travelling in a straight line is required, or just soft turns are required to reach the goal pose

However when bigger turns are required the planner seems to abandon the initial feasible plan to make the turn and adopt more and more complex turn sequences, without giving the original plan a chance to work. It claims the trajectory is not feasible, but i dont understand why. I have a link to a youtube video of what happens

Im sure i have mis-configured it. But can anyonepoint me the direction what parameters i should be looking at? here is my base_local_planner_params.yaml

```
TebLocalPlannerROS:
odom_topic: odom
# Trajectory
teb_autosize: True
dt_ref: 0.3
dt_hysteresis: 0.1
max_samples: 500
global_plan_overwrite_orientation: True
allow_init_with_backwards_motion: True
max_global_plan_lookahead_dist: 3.0
global_plan_viapoint_sep: -1
global_plan_prune_distance: 1
exact_arc_length: False
feasibility_check_no_poses: 2
publish_feedback: True
# Robot
max_vel_x: 0.18
max_vel_x_backwards: 0.18
max_vel_y: 0.0
max_vel_theta: 0.5 # the angular velocity is also bounded by min_turning_radius in case of a carlike robot (r = v / omega)
acc_lim_x: 0.5
acc_lim_theta: 0.7
# ********************** Carlike robot parameters ********************
min_turning_radius: 2.0 # Min turning radius of the carlike robot (compute value using a model or adjust with rqt_reconfigure manually)
wheelbase: 0.3 # Wheelbase of our robot
cmd_angle_instead_rotvel: True # stage simulator takes the angle instead of the rotvel as input (twist message)
# ********************************************************************
footprint_model: # types: "point", "circular", "two_circles", "line", "polygon"
type: "two_circles"
radius: 0.2 # for type "circular"
line_start: [0.0, 0.0] # for type "line"
line_end: [0.4, 0.0] # for type "line"
front_offset: 0.3 # for type "two_circles"
front_radius: 0.2 # for type "two_circles"
rear_offset: 0.0 # for type "two_circles"
rear_radius: 0.2 # for type "two_circles"
vertices: [ [0.25, -0.05], [0.18, -0.05], [0.18, -0.18], [-0.19, -0.18], [-0.25, 0], [-0.19, 0.18], [0.18, 0.18], [0.18, 0.05], [0.25, 0.05] ] # for type "polygon"
# GoalTolerance
xy_goal_tolerance: 0.4
yaw_goal_tolerance: 0.25
free_goal_vel: False
complete_global_plan: True
# Obstacles
min_obstacle_dist: 0.27 # This value must also include our robot's expansion, since footprint_model is set to "line".
inflation_dist: 0.1
include_costmap_obstacles: True
costmap_obstacles_behind_robot_dist: 1.0
obstacle_poses_affected: 15
dynamic_obstacle_inflation_dist: 0.6
include_dynamic_obstacles: True
costmap_converter_plugin: "costmap_converter::CostmapToLinesDBSRANSAC"
costmap_converter_spin_thread: True
costmap_converter_rate: 5
# Optimization
no_inner_iterations: 5
no_outer_iterations: 4
optimization_activate: True
optimization_verbose: False
penalty_epsilon: 0.1
obstacle_cost_exponent: 4
weight_max_vel_x: 2
weight_max_vel_theta: 1
weight_acc_lim_x: 1
weight_acc_lim_theta: 1
weight_kinematics_nh: 1000
weight_kinematics_forward_drive: 1
weight_kinematics_turning_radius: 1
weight_optimaltime: 1 # must be > 0
weight_shortest_path: 0
weight_obstacle: 100
weight_inflation: 0.2
weight_dynamic_obstacle: 10 # not in use yet
weight_dynamic_obstacle_inflation: 0.2
weight_viapoint: 1
weight_adapt_factor: 2
# Homotopy Class Planner
enable_homotopy_class_planning: True
enable_multithreading: True
max_number_classes: 4
selection_cost_hysteresis: 1.0
selection_prefer_initial_plan: 0.95
selection_obst_cost_scale: 1.0
selection_alternative_time_cost: False
roadmap_graph_no_samples: 15
roadmap_graph_area_width: 5
roadmap_graph_area_length_scale: 1.0
h_signature_prescaler: 0.5
h_signature_threshold: 0.1
obstacle_heading_threshold: 0.45
switching_blocking_period: 0.0
viapoints_all_candidates: True
delete_detours_backwards: True
max_ratio_detours_duration_best_duration: 3.0
visualize_hc_graph: False
visualize_with_time_as_z_axis_scale: False
# Recovery
shrink_horizon_backup: True
shrink_horizon_min_duration ...
```