how to create a boundary around aruco markers and navigate the bot within the boundary?

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hi, I am working on finding a way to navigate the bot within the confined boundary using aruco markers. I used fiducials to detect the aruco markers and create a map. I have the transforms of the fiducials and I also have the odom of the bot(fiducial_pose) in quaternions.

i have four aruco markers attached to cones and placed in a rectangular arrangement. I am also using LIDAR for obstacle avoidance. SInce I plan to use this in a open space outdoors(ex:lawn mower), laser_scan_matcher obviously would not meet the needs.

My question is how can i make the bot navigate within these 4 points by imposing some kind of boundary restrictions? Is there a way other than using navigation stack?