robot hits the obstacles and turns around occasionally using navigation stack

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Hi everyone,

I am using the navigation stack on my own wheeled robot. at first i used a converter to convert 220 v to 14.7 v to run my robot. using this power my robot navigated nicely in the environment. Then i equipped my robot with a 25 v LiPo battery and now when navigating, it hits the obstacles much and when i command it to go to a far distance goal, turn around much. my navigation config is as follow. what should i do? I appreciate any help.

base_local_planners_params.yaml:

max_vel_x: 2.5
min_vel_x: 0.5
max_vel_theta: 13.736
min_vel_theta: -13.736
min_in_place_rotational_vel: 2
escape_vel: -0.5
acc_lim_theta: 3.12
acc_lim_x: 0.568
acc_lim_y: 0.568
xy_goal_tolerance: 0.5
yaw_goal_tolerance: 3
holonomic_robot: false

costmap_common_params.yaml:

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[ -0.146,  -0.372],
            [ 0.354, -0.372],
            [ 0.554, 0],
            [0.354, 0.372],
            [-0.146,  0.372]]
robot_radius: ir_of_robot
inflation_radius: 0.6
robot_radius: 0.5

observation_sources: laser

laser: {sensor_frame: laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true}

global_costmap_params.yaml:

global_costmap:
  global_frame: /map
  robot_base_frame: /base_footprint
  update_frequency: 5.0
  static_map: true
  resolution: 0.05
  width: 0
  height: 10

local_costmap_params.yaml:

local_costmap:
  global_frame: /odom
  robot_base_frame: /base_footprint
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 6.0
  height: 6.0
  resolution: 0.05