robot keeps stoping at middle of navigtion

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I am testing my robot with move_base and amcl based global localization. Here what issue i'm facing is that robot keeps stoping at middle of its path while moving to destination autonomously. Here is some of the demo. Due to which the motion is not smooth and lack of efficiency. Do anyone have idea what is the exact problem of this? When i test the robot in newly created map this doesn't happens.