DWA Planner path deflects and prevents smooth movement

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Hi, here's the video. Problem occurs at 0:09 and 0:17. When i give goal to the robot, DWA planner produces local path but, after the robot gains good velocity, it produces a local path which greatly deflects from the global path and causes the robot to slow down and halt for a few moments before continuing.

This reduces the performance of the robot. Any suggestions on how to make the movement smooth ?

local_costmap:
global_frame: map
robot_base_frame: base_footprint
robot_radius: 0.15
update_frequency: 1.0
publish_frequency: 1.0
transform_tolerance: 0.75
static_map: false  
rolling_window: true
width: 3 #3
height: 3 #3
resolution: 0.05
inflation_radius: 0.1
cost_scaling_factor: 75
observation_sources: scan
scan: {sensor_frame: laser_link, data_type: LaserScan, topic: /scan, marking: true, clearing: true}


DWAPlannerROS:
  # Robot configuration parameters
  acc_lim_x: 0.1
  acc_lim_y: 0
  acc_lim_theta: 0.25
  acc_lim_trans: 0.15

  max_vel_x: 3.0
  min_vel_x: 0.001
  max_vel_y: 0
  min_vel_y: 0

  max_vel_trans: 3.0
  min_vel_trans: 0.001
  max_vel_theta: 0.5
  min_vel_theta: -0.5

  # Goal Tolerance Parameters
  yaw_goal_tolerance: 0.3
  xy_goal_tolerance: 0.1
  latch_xy_goal_tolerance: false

  # Forward Simulation Parameters
  sim_time: 4.0
  sim_granularity: 0.02
  vx_samples: 15
  vy_samples: 1
  vth_samples: 20
  # penalize_negative_x: true

  # Trajectory scoring parameters
  path_distance_bias: 4.0
  goal_distance_bias: 0.05
  occdist_scale: 3.0 
  forward_point_distance: 0
  stop_time_buffer: 0.2
  scaling_speed: 0.25
  max_scaling_factor: 0.2 

  # Oscillation Prevention Parameters
  oscillation_reset_dist: 0.25
  #Debug
  publish_traj_pc : true
  publish_cost_grid_pc: true


#Move_Base_Params
shutdown_costmaps: false
planner_frequency: 1.0
controller_frequency: 1.0
planner_patience: 3.0
controller_patience: 3.0
conservative_reset_dist: 0.1
oscillation_timeout: 10.0
oscillation_distance: 0.2 
max_planning_retries: -1