Gmapping failed in long corridor using Navigation Stack

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Hello,

I used P3DX with Hokuyo URG-04LX limiting range to only 3 metres and gave the odometry data to Gmapping as well. I have problem in using Gmapping in long corridor where the feature look the same. For example, the left and the right side of robot is just the straight line. When I do Gmapping, even it walk through these parallel straight line for long time, it think it's in the same place and not move at all in gmapping in rviz. The map will update when it found something like doors. Thus, the robot walk for about 5-6 metres long until finding the doors but the map is 1-2 metres long.

How to fix this? or It's hard to do slam in the long corridor without distinct feature?