Problem moving differential drive robot through narrow corridors.

[jmudit19]

Hello sir, I am trying to use teb_local_planner for passing though narrow paths efficiently. The planner works fine for broad pathways but when I am trying to pass a Robot: type : "line" line_start: [-0.42, -0.21] line_end: [0.42, -0.21] through a door with width ~0.7m. The robot gets stuck to this: I am currently using ros-kinetic on ubuntu 15.10. The following are the configurations used :

And sometimes at this (I cannot increase the inflation radius further because it does not allow the robot to move through narrow pathways ) : These are the configurations for global and local planner:

I have also tried the same with SBPL lattice planner. Please help!