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But to achieve a accuracy of 20mm near to position of goal what changes should I do in the package.

This will be hard to achieve out of the box. You should probably try an approach with a separate node that starts at the goal positions that does e.g. a scan matching at the goal positions. With this, given you have enough stable features, you can get the required accuracy.

How to disable robot recovery behavior

Those are the recovery behaviors of move_base and are intended to clear the local costmap. You can set the recovery_behavior_enabled parameter of move_base to false to disable that.

i.e if it finds a obstacle in its path I want it to stop.

This is however hinting at that you don't want the recovery_behaviors to behave differently, but rather the local planners. Again, there is nothing known to me with the standard planners (i.e. TrajectoryPlannerROS from the base_local_planner package and DWAPlannerROS from dwa_local_planner package) that allow for this out of the box. Especially since you probably want to resume automatically after the path is cleared. If you don't ever want the robot to drive around obstacles, you are probably best off with writing your own Local Planner Plugin that does exactly what you want.

I want to restrict the possible areas the robot can move in a map.

Here I see two ways: one is to write another costmap layer that you can configure to add lethal obstacles in the area you don't want to drive. The other is to directly patch this somehow in the global planner plugin. With the second approach, you need to be a little bit careful though, that this plays nicely with your local planner plugin.

But to achieve a accuracy of 20mm near to position of goal what changes should I do in the package.

This will be hard to achieve out of the box. You should probably try an approach with a separate node that starts at the goal positions that does e.g. a scan matching at the goal positions. With this, given you have enough stable features, you can get the required accuracy.

How to disable robot recovery behavior

Those are the recovery behaviors of move_base and are intended to clear the local costmap. You can set the recovery_behavior_enabled parameter of move_base to false to disable that.

i.e if it finds a obstacle in its path I want it to stop.

This is however hinting at that you don't want the recovery_behaviors to behave differently, but rather the local planners. Again, there is nothing known to me with the standard planners (i.e. TrajectoryPlannerROS from the base_local_planner package and DWAPlannerROS from dwa_local_planner package) that allow for this out of the box. Especially since you probably want to resume automatically after the path is cleared. If you don't ever want the robot to drive around obstacles, you are probably best off with writing your own Local Planner Plugin that does exactly what you want.

I want to restrict the possible areas the robot can move in a map.

Here I see two ways: one is to write another costmap layer that you can configure to add lethal obstacles in the area you don't want to drive. The other is to directly patch this somehow in the global planner plugin. With the second approach, you need to be a little bit careful though, that this plays nicely with your local planner plugin.