my robot collid with wall

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My robot model colliding every time I give 2d goal in move base . A’M using ubuntu16.04 ,ros kinetic ,tab local planner , 4 wheel skid steering plug for odmetry. Yaml file are specified bellow I attached also video here https://youtu.be/_Hb5NQ6FWlo

teb local planner
TebLocalPlannerROS:

  #odom_topic: odom
  #map_frame: /odom

  teb_autosize: True
  dt_ref: 0.3
  dt_hysteresis: 0.03
  global_plan_overwrite_orientation: True
  max_global_plan_lookahead_dist: 1.0
  feasibility_check_no_poses: 1

  max_vel_x: -0.8
  max_vel_x_backwards: -0.2
  max_vel_y: 0.0
  max_vel_theta: 0.4


  wheelbase: 0.0
  acc_lim_x: 0.01
  acc_lim_y: 0.00
  acc_lim_theta: 0.02

  footprint_model: # types: "point", "circular", "two_circles", "line", "polygon"
  type: "polygon"
  radius: 0.85 #
  vertices: [ [-0.6, -0.85], [-0.6, 0.85], [0.6, 0.85], [0.6, -0.85] ]

  # GoalTolerance
  xy_goal_tolerance: 0.2
  yaw_goal_tolerance: 0.1
  free_goal_vel: False

  # Obstacles
  min_obstacle_dist: 0.5
  include_costmap_obstacles: True
  costmap_obstacles_behind_robot_dist: 1.0
  obstacle_poses_affected: 10
  costmap_converter_spin_thread: True
  costmap_converter_rate: 10
  inflation_dist: 0.8
  dynamic_obstacle_inflation_dist: 0.6
  obstacle_association_force_inclusion_factor: 2.0
  obstacle_association_cutoff_factor: 4.0

  costmap_converter_plugin: "costmap_converter::CostmapToPolygonsDBSMCCH"
  costmap_converter_spin_thread: True
  costmap_converter_rate: 5
  costmap_converter/CostmapToPolygonsDBSMCCH:
    cluster_max_distance: 0.4
    cluster_min_pts: 2
    cluster_max_pts: 30
    convex_hull_min_pt_separation: 0.1

local_costmap:
   global_frame: odom
   robot_base_frame: base_footprint
   update_frequency: 5
   publish_frequency: 2
   width: 5.5
   height: 5.5
   origin_x: 0.0
   origin_y: 0.0


   resolution: 0.02
   static_map: false
   rolling_window: true

plugins:
  - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
  - {name: inflation_layer, type: "costmap_2d::InflationLayer"}

global_costmap:
   global_frame: /map
   robot_base_frame: base_link
   update_frequency: 10
   publish_frequency: 10
   resolution: 0.06
   static_map: true
   rolling_window: false
map_type: costmap
global_frame: /map
robot_base_frame: base_link
obstacle_range: 10
raytrace_range: 12

footprint: [ [-0.6, -0.85], [-0.6, 0.85], [0.6, 0.85], [0.6, -0.85] ]

transform_tolerance: 0.3

robot_radius: 0.85
inflation_radius: 0.85

observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: Empty_lidar, data_type: LaserScan, topic: /scan, marking: true, clearing: true}