Computing Trajectory Movements

Hi all,     I've been reading and hunting around for answers to this problem, however still remaining elusive. PID alg seems the most likely so far,
just not sure how to implement it.
I have:
1) Robot capable of build a map - occupancy grid 2) A* path planning Alg 3) The starters of the Navigation - calculates vectors between way point - thus angle to travel and distance.
Problem: As the robot approaches the way point/goal, is can over compensate for error in trajectory. Then looses tracking all together.
Anyone suggest any solutions for this?
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