Navigation 2: The robot has a stuck, not moving and just spin

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I am using Navigation package for my project in school, but I have some errors such as sometime robot has a stuck, not moving and just spin, rarely the robot run smoothly.

Video about the error

I don't know how to fix it. Here is robot in Rviz and terminal's image when the robot stuck or spin:

Can anyone help me. Thanks you so much. Here is my config file:

amcl:
  ros__parameters:
    use_sim_time: True
    alpha1: 0.2
    alpha2: 0.15
    alpha3: 0.2
    alpha4: 0.25
    alpha5: 0.2
    base_frame_id: "base_footprint"
    beam_skip_distance: 0.5
    beam_skip_error_threshold: 0.9
    beam_skip_threshold: 0.3
    do_beamskip: false
    global_frame_id: "map"
    lambda_short: 0.1
    laser_likelihood_max_dist: 2.0
    laser_max_range: 100.0
    laser_min_range: -1.0
    laser_model_type: "likelihood_field"
    max_beams: 60
    max_particles: 1500
    min_particles: 300
    odom_frame_id: "odom"
    pf_err: 0.05
    pf_z: 0.99
    recovery_alpha_fast: 0.0
    recovery_alpha_slow: 0.0
    resample_interval: 1
    robot_model_type: "differential"
    save_pose_rate: 0.5
    sigma_hit: 0.2
    tf_broadcast: true
    transform_tolerance: 1.0
    update_min_a: 0.2
    update_min_d: 0.25
    z_hit: 0.6
    z_max: 0.05
    z_rand: 0.3
    z_short: 0.05
    scan_topic: scan

amcl_map_client:
  ros__parameters:
    use_sim_time: True

amcl_rclcpp_node:
  ros__parameters:
    use_sim_time: True

bt_navigator:
  ros__parameters:
    use_sim_time: True
    global_frame: map
    robot_base_frame: base_link
    odom_topic: odom
    enable_groot_monitoring: True
    groot_zmq_publisher_port: 1666
    groot_zmq_server_port: 1667
    default_bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
    plugin_lib_names:
    - nav2_compute_path_to_pose_action_bt_node
    - nav2_follow_path_action_bt_node
    - nav2_back_up_action_bt_node
    - nav2_spin_action_bt_node
    - nav2_wait_action_bt_node
    - nav2_clear_costmap_service_bt_node
    - nav2_is_stuck_condition_bt_node
    - nav2_goal_reached_condition_bt_node
    - nav2_goal_updated_condition_bt_node
    - nav2_initial_pose_received_condition_bt_node
    - nav2_reinitialize_global_localization_service_bt_node
    - nav2_rate_controller_bt_node
    - nav2_distance_controller_bt_node
    - nav2_speed_controller_bt_node
    - nav2_truncate_path_action_bt_node
    - nav2_goal_updater_node_bt_node
    - nav2_recovery_node_bt_node
    - nav2_pipeline_sequence_bt_node
    - nav2_round_robin_node_bt_node
    - nav2_transform_available_condition_bt_node
    - nav2_time_expired_condition_bt_node
    - nav2_distance_traveled_condition_bt_node

bt_navigator_rclcpp_node:
  ros__parameters:
    use_sim_time: True

controller_server:
  ros__parameters:
    # controller server parameters (see Controller Server for more info)
    use_sim_time: True
    controller_frequency: 10.0
    min_x_velocity_threshold: 0.001
    min_y_velocity_threshold: 0.5
    min_theta_velocity_threshold: 0.001
    progress_checker_plugin: "progress_checker"
    goal_checker_plugin: "goal_checker"
    controller_plugins: ["FollowPath"]
    progress_checker:
      plugin: "nav2_controller::SimpleProgressChecker"
      required_movement_radius: 0.5
      movement_time_allowance: 10.0
    goal_checker:
      plugin: "nav2_controller::SimpleGoalChecker"
      xy_goal_tolerance: 0.25
      yaw_goal_tolerance: 0.25
      stateful: True
    # DWB controller parameters
    FollowPath:
      plugin: "dwb_core::DWBLocalPlanner"
      debug_trajectory_details: True          # Publish debug information (on what topic???).
      prune_distance: 1.0                     # Whether to prune the path of old, passed points.
      min_vel_x: 0.0                         # Minimum velocity X (m/s).
      min_vel_y: 0.0                          #Minimum velocity Y (m/s).
      max_vel_x: 0.4                         #Maximum velocity X (m/s).
      max_vel_y: 0.0                          #Maximum velocity Y (m/s).
      max_vel_theta: 1.0                      #Maximum angular velocity (rad/s).
      min_speed_xy: 0.0                       #Minimum translational speed (m/s).
      max_speed_xy: 0.4                      #Maximum translational speed (m/s).
      min_speed_theta: -0.2                    #Minimum angular speed (rad/s).
      acc_lim_x: 2.5                          #Maximum acceleration X (m/s^2).
      acc_lim_y: 0.0                          #Maximum acceleration Y (m/s^2).
      acc_lim_theta: 3.2                      #Maximum acceleration rotation (rad/s^2).
      decel_lim_x: -2.5                       #Maximum deceleration X (m/s^2).
      decel_lim_y: 0.0                        #Maximum deceleration Y (m/s^2).
      decel_lim_theta: -3.2                   #Maximum deceleration rotation (rad/s^2).
      vx_samples: 20                           #Number of velocity samples in the X velocity direction.
      vy_samples: 5                           #Number of velocity samples in the Y velocity direction.
      vtheta_samples: 20                      #Number of velocity samples in the angular directions.
      sim_time: 2.0                           #Time to simulate ahead by (s).
      publish_evaluation: True                #Whether to publish the local plan evaluation.
      publish_global_plan: true               #Whether to publish the global plan.
      linear_granularity: 0.05                #Linear distance forward to project.
      angular_granularity: 0.02              # Angular distance to project ...