Problems in path planning and amcl

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I am using gazebo to simulate a SummitXL.

The mission is to explore an area. To do that I have developed an algorithm that generates points equally distributed around the area. I use these points as goals for path planning algorithm.

Ii is not working properly:

First of all, in the AMCL, it obtains a great estimation but when the robot continues its movement, the AMCL gets a worse estimation because all the particles are too close.

The most important issue is explained here: When the robot is in a corridor it cannot go through it because it thinks it is closed. I think that this is happening due to the amcl. The robot has the local map with an obstacle (dark grey in the picture) and the global map with a false obstacle (light grey in the picture)

The global map is wrong and it should be une meter away, to coincide with the local map.

If you can help me I would appreciate it. I can give more data if you want.

I will be updating the question as long as I know more important facts about what is happening.