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What you are describing is functionality that is out of scope for move_base or the costmaps that it maintains. I would create a new ros node that operates conceptually at a higher level than move_base.
The job of this new node is to choose the next goal to give to move_base. It maintains its own map, with a grid of visited locations (populated by monitoring the robot pose.) This node will also need to know where the walls and prohibited zones are so it doesn't request an impossible-to-reach goal.
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What you are describing is functionality that is out of scope for move_base or the costmaps that it maintains. I would create a new ros node that operates conceptually at a higher level than move_base.
The job of this new node is to choose the next goal to give to move_base. It maintains its own map, with a grid of visited locations (populated by monitoring the robot pose.) This node will also need to know where the walls and prohibited zones are so it doesn't request an impossible-to-reach goal.
P.S. you will make the problem more difficult if you also try to mix in gmapping functionality. I would keep these two features separate until you are have more experience with ros.
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