When robot rotates, pose arrows diverges(which makes turning difficult)

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Hello, There is no problem in navigation except this one. Robot tries to choose the closest path possible but this makes robot rotate sharp turn. That is why in the middle of narrow path, robot stops since pose arrays diverges (like at the beginning) I saw from internet that other robots may not choose the closest path and make a smooth turn but I don't know how to do it ( as I know, it can be done by neutral_cost) Yet, I did not know how to add cost parameter. So it seems there are 2 choices:

1- find a way to make sharp turns without any divergence of pose arrays

2-find a way to write cost parameter and make sharp turns smooth.

I'm really counting on you guys thanks for helping.

Note: this is the video I made for this problem. https://youtu.be/PApn4dh8nnM