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As I can understand you want your robot to avoid in-place rotations and moving backwards.
Avoiding both backing up and in-place rotations can get your robot stuck if there is an obstacle in front of it. In this case the recovery-behavior will take place to get the robot unstuck (NOTE that the default recovery behavior rotates in place). That is set by the recovery_behaviors and clearing_rotation_allowed parameters from move_base. This means that in order to avoid in-place rotations when stuck you will need a custom recovery behavior plugin in this case.
Please post your teb_local_planner parameters (.yaml) and move_base.launch files so we can see your current configuration.
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