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Turtlebot uses the same nav_stack that other ROS robots use. In order to develop your own planner for it, you must make your own plugin for base_local_planner interface type, which is specified in nav_core. base_local_planner is move_base's default local planner. In order to change it, you can add the following lines to turtlebot_navigation/config/move_base_turtlebot.launch inside of the move_base node:
<param name="base_local_planner" value="your_local_planner/YourLocalPlanner" />
You build your own plugin package, develop your own blp_plugin.xml, and load it in place of base_local_planner.
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