How to unstuck a robot when rotate recovery fails?

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Okay, so I've been running the navigation stack on a custom built robot (Which is elliptical in shape). The navigation works fine, I'm able to assign goal points and the robot plans and executes the motion fairly well. Sometimes when the goal point is somewhat close to a wall, the robot navigates to the point fine and stops. Now if the robot wants to make a turn, it detects that it is too close too the wall and thinks that the robot is stuck. It starts the rotate recovery behavior but does not go through with it completely because it detects a potential collision. And then the robot stops trying cause it was not able to find a valid plan, and just stays there.

Then I have to manually issue velocity commands to bring the robot out of that position. So my question is, how can I unstuck a robot when it is parallel to a wall such that it can turn only in direction and move forward but cannot do a turn in place.

I hope I'm able to get the problem across clearly.