Properties of dust-acoustic solitary waves in a warm dusty plasma are analyzed by using the hydrodynamic model for massive dust grains, electrons, ions, and streaming ion beam. For this purpose, Korteweg-de Vries (KdV) equation for the first-order perturbed potential and linear inhomogeneous KdV-type equation for the second-order perturbed potential have been derived and their analytical solutions are presented. In order to show the characteristics of the dust-acoustic solitary waves are influenced by the plasma parameters, the relevant numerical analysis of the KdV and linear inhomogeneous KdV-type equations are obtained. The dust-acoustic solitary waves, as predicted here, may be associated with the nonlinear structures caused by the interaction of polar jets with the interstellar medium, which is known as Herbig-Haro objects.