Smac Planner - Random Loops are getting generated during turns.

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I am using Smac planner as Global planner and RPP as local planner. While trying to navigate my robot, it generate loops randomly. Its a non- holonomic robot with a radius 0.5 m. Can you please direct me to the correct parameter that can help remove these random loops.

 controller_server:
   ros__parameters:
   use_sim_time: True
   controller_frequency: 10.0
   min_x_velocity_threshold: 0.001
   min_y_velocity_threshold: 0.5
   min_theta_velocity_threshold: 0.001
   progress_checker_plugin: "progress_checker"
   goal_checker_plugin: "goal_checker"
   controller_plugins: ["FollowPath"]

progress_checker:
  plugin: "nav2_controller::SimpleProgressChecker"
  required_movement_radius: 0.5
  movement_time_allowance: 10.0
goal_checker:
  plugin: "nav2_controller::SimpleGoalChecker"
  xy_goal_tolerance: 0.5 #0.25
  yaw_goal_tolerance: 1.0 #0.25
  stateful: True
FollowPath:
  plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
  desired_linear_vel: 0.5
  max_linear_accel: 1.0 #2.5
  max_linear_decel: 1.0 #2.5
  lookahead_dist: 0.6
  min_lookahead_dist: 0.3
  max_lookahead_dist: 0.9
  lookahead_time: 1.5
  rotate_to_heading_angular_vel: 1.0 #1.8
  transform_tolerance: 0.1
  use_velocity_scaled_lookahead_dist: false
  min_approach_linear_velocity: 0.05
  use_approach_linear_velocity_scaling: true
  max_allowed_time_to_collision: 1.0
  use_regulated_linear_velocity_scaling: true
  use_cost_regulated_linear_velocity_scaling: false
  regulated_linear_scaling_min_radius: 0.9
  regulated_linear_scaling_min_speed: 0.25
  use_rotate_to_heading: false
  rotate_to_heading_min_angle: 0.785
  max_angular_accel: 3.2

 planner_server:
    ros__parameters:
   planner_plugins: ["GridBased"]
   use_sim_time: True

GridBased:
  plugin: "nav2_smac_planner/SmacPlanner"
  tolerance: 1.0 
  downsample_costmap: false      
  downsampling_factor: 1            
  allow_unknown: false              
  max_iterations: -1              
  max_on_approach_iterations: 1000  
  max_planning_time: 2.0           
  smooth_path: true                
  motion_model_for_search: "DUBIN"  
  angle_quantization_bins: 72     
  minimum_turning_radius: 0.5
  reverse_penalty: 2.1              
  change_penalty: 1.0 
  non_straight_penalty: 2.4 
  cost_penalty: 1.3                 

  smoother:
    smoother:
      w_curve: 50.0                 
      w_dist: 0.5                 
      w_smooth: 30000.0            
      w_cost: 0.5 #0.025                 
      cost_scaling_factor: 10.0    
    # I do not recommend users mess with this unless they're doing production tuning
    optimizer:
      max_time: 0.10                # maximum compute time for smoother
      max_iterations: 500           # max iterations of smoother
      debug_optimizer: false        # print debug info
      gradient_tol: 1.0e-10
      fn_tol: 1.0e-20
      param_tol: 1.0e-15
      advanced:
        min_line_search_step_size: 1.0e-20
        max_num_line_search_step_size_iterations: 50
        line_search_sufficient_function_decrease: 1.0e-20
        max_num_line_search_direction_restarts: 10
        max_line_search_step_expansion: 50