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The trajectory_planner_ros currently does not have a parameter to change this. The code intentionally discards obstacles behind the robot, which might be a design flaw, but helped in some situations on the PR2. If you want a person to be able to move the robot backwards like that, it is likely that you will have to write your own localplanner or modify one of the local planners in the navigation stack. Possibly you can change the code of trajectory_planner.cpp to check for obstacles when escaping backwards. If your costmap is updated by the ultrasonic sensors, you should be able to make this modification easily, by searching the file for escape_vel and adding a footprint check.
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