can Teb navigation finish a shuttle run path?

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Hi, when doing some works with Teb navigation, I met a problem that Teb seems unable to follow a shuttle run path as image attached.

Description about the process:

1. Set up the path by using waypoint_global_point, green arrow: first target, red one: second target.
2. when robot running, it got stuck between these two target points.

I think this situation came from that Teb algorithm takes global_plan_lookahead_dist into account,. When robot approaches the first target, global_plan_lookahead_dist includes more parts about "backward path" so that optimization process will ask robot to move backward, making robot stuck.

For this problem, is there any way to solve it ?

Thanks.