Weird deceleration in TEB local planner

[YuLin1226]

Hi, when running navigation for amr project, I met a weird problem about the deceleration when the robot approaches the goal.

Here are two images about the linear velocity taken in gazebo and real world.

Gazebo simulation: https://imgur.com/a/12EEBVa

Real world running: https://imgur.com/0PSGtdV

From the images, it's obviously that the robot can start very smooth in both situation, but can only stop smooth in gazebo simulation. In real world, the robot failed to do so.

The test in both environments is "go straight only", so I use rviz to plot the cmd_vel/linear/x.

Is there anyone that faced the same issue before and can give some advices?

Thanks.