The robot do not move even there is a goal for it using navigation

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Hello everyone, I am using the explore stage(wiki.ros.org/explore) and motified it with multi-robots. (1)When I run it I always find that when the robot's goal is very far and behand the robot ,I will not move. (2)Also, the robot always goes into the inflation area and do not move for the goal, I have read the navigation guide but maybe I can't understand some of them ,So I want to find some help here for the reason why it do not move this is the details: docs.google.com/drawings/d/17D6umDL43akGIcRJbAAy27SnUKy9LlGorETI3w04nWY/edit?usp=sharing

  controller_frequency: 10.0
  TrajectoryPlannerROS:
  transform_tolerance: 0.3
  world_model: costmap

  acc_lim_x: 0.5
  acc_lim_y: 0.5
  acc_lim_th: 1.0
  max_vel_x: 0.65
  min_vel_x: 0.10
  max_rotational_vel: 2.5
  min_in_place_rotational_vel: 0.001
  escape_vel: -0.1
  holonomic_robot: false
  #y_vels: [-0.3, -0.1, 0.1, 0.3]

  yaw_goal_tolerance: 0.05
  xy_goal_tolerance: 0.15
  latch_xy_goal_tolerance: false

  sim_time: 2.7
  sim_granularity: 0.05
  vx_samples: 8
  vtheta_samples: 20

  meter_scoring: true
  occdist_scale: 0.01
  heading_lookahead: 0.325
  heading_scoring: false
  heading_scoring_timestep: 0.8
  dwa: true

  oscillation_reset_dist: 0.1

  goal_distance_bias: 0.05 #0.4
  path_distance_bias: 0.07 #0.3
  escape_reset_dist: 0.15
  escape_reset_theta: 0.30
  simple_attractor: false`

and the costmap_common

 map_type: costmap
transform_tolerance: 0.3
obstacle_range: 7.9
max_obstacle_height: 2.0
raytrace_range: 7.9

robot_radius: 0.15 #0.10  
inflation_radius: 0.5 #0.12

cost_scaling_factor: 15.0
lethal_cost_threshold: 100
track_unknown_space: true

Thank you very much!