Robot is not Clearing Obstacles

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My robot clears obstacles too late during autonomous navigation. And it doesn't clear any dynamic obstacles left behind during my robot's movement. I type rosservice call /move_base/clear_costmaps "{}" in terminal, but I want the robot to remove dynamic obstacles behind it while synchronously going. And when it starts to move autonomously, it moves by stopping, that is, it stops and moves a little while going to the target point during its movement. Do you have any suggestions regarding this?

dwa_local_params:

# Robot Configuration Parameters   max_vel_x: 0.8   min_vel_x: -0.8

 max_vel_y: 0.0
 min_vel_y: 0.0
 max_trans_vel: 0.5   
 min_trans_vel:0.0 
 max_rot_vel: 0.5
 min_rot_vel: 0.0

# The velocity when robot is moving in a straight line

#  max_vel_trans:  2.24
#  min_vel_trans:  0.0

#  max_vel_theta: 6.00
#  min_vel_theta: 0.0

  acc_lim_x: 0.8
  acc_lim_y: 0.0
  acc_lim_theta: 0.8 

# Goal Tolerance Parametes
  xy_goal_tolerance: 0.05
  yaw_goal_tolerance: 0.017



 latch_xy_goal_tolerance: false

# Forward Simulation Parameters
  sim_time: 2.0
  vx_samples: 30
  vy_samples: 0
  vth_samples: 60
  controller_frequency: 5.0

# Trajectory Scoring Parameters
  path_distance_bias: 32.0
  goal_distance_bias: 20.0
  occdist_scale: 0.02

  forward_point_distance: 0.325
  stop_time_buffer: 0.2
  scaling_speed: 0.25
  max_scaling_factor: 0.2

# Oscillation Prevention Parameters
  oscillation_reset_dist: 0.05

# Debugging
  publish_traj_pc : true
  publish_cost_grid_pc: true

global_costmap_params:

 global_frame: map
  robot_base_frame: base_footprint

  update_frequency: 10.0
  publish_frequency: 10.0
  transform_tolerance: 0.5

  static_map: true

local_costmap_params:

  global_frame: odom
  robot_base_frame: base_footprint

  update_frequency: 10.0
  publish_frequency: 10.0
  transform_tolerance: 0.5  

  static_map: false  
  rolling_window: true

  width: 5
  height: 5