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Try to set your local planner to DWA from your base_local_planner_params.yaml. So the following line in your move_base.launch should be removed:

<param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />

instead in your base_local_planner_params.yaml put the following:

dwa: true

Although navigation stack by default uses dynamic window approach meaning that the value for dwa parameter is true if it is not set by user. For more info please take a look at base_local_planner documentation: http://wiki.ros.org/base_local_planner?distro=indigo

hope it helps