obstacles avoidance using different algorithm looking for advices

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I ' am trying to implement my obstacles avoidance algorithm in ros , and i know the local planner is the package to implement the algorithm which previous people had used .But when I started to do this ,I find out the local planner that's a massive stuff that i can't handle it . And i have used the navigation stack in ros before , but it seems not perform really well in real environment I.e. amcl can not locate my robot 'initial pose in static map. so I 'm looking for advices to help to start this . Thanks!

ubuntu 14.04 indigo