Improved algorithm for service boy (ROS Navigation)

I've hacked to code for base_local_planner and make it suitable for service boy. So I call this algorithm "Service Boy Algorithm"

This is my little research about ROS Navigation Stack. I've create my own robot by Pololu DC motor (with encoder) 12 V. , Arduino Mega, Lipo Batt. 12V, Acer Swift 1.
I use Carrot Planner for global planner. It made quite good job!!..
and now adapt new algorithm for base_local_planner