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You can try the Carrot Planner, it will move the robot straight to the goal position and stop it in front of any obstacle.

To test it you just have to add the following code to the launch file where you start move_base:

<param name="base_global_planner" value="carrot_planner/CarrotPlanner" />

This is an exemplary launch file:

<?xml version="1.0"?>
<launch>

  <!-- Start move_base (nav stack) node and load config files -->    
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find your_pkg)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find your_pkg)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find your_pkg)/config/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find your_pkg)/config/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find your_pkg)/config/base_local_planner_params.yaml" command="load" />

    <!-- Set the global planner: -->
    <param name="base_global_planner" value="carrot_planner/CarrotPlanner" /> 

  </node>

</launch>