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Define "avoid". I have definitely seen the DWA planner handle someone stepping out of a doorway into the path of a robot moving 1 m/s and the robot started to replan around the person, although eventually aborted the plan and came to a full, complete and safe stop. If that is OK in your definition of "avoid" I think you can eventually find satisfactory parameters, assuming your robot can actually accelerate/decelerate fast enough for whatever you are throwing at it.
The entire navigation stack is quite sensitive to acceleration limits -- characterizing your robot and specifying these will generally make a huge difference over pulling them from thin air.
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