AMCL losting problem

edit

hello... I work on AMCL. if I work in little area AMCL work very well. But if I work in corridor AMCL always is losting in the middle of corridor. My AMCL parameters are good so amcl pose estimation (pose arrays) doesnt spread. why it get lost always same area ??? problem is about LIDAR MAX RANGE or gound type ?

lidar hokuyo : 5.4 m max range type of floor : tile The length of the corridor :

VIDEO ABOUT PROBLEM :

VIDEO INFO :

video timing (03:08) : robot is actually in front of the first door, but amcl estimation is still in front of the first floor video timing (04:07) : robot is actually in front of the third door, but amcl estimation is still in front of the second floor

    <!-- amcl.XML-->
<launch>
  <arg name="use_map_topic"   default="true"/>
  <arg name="initial_pose_x"  default="0.0"/>
  <arg name="initial_pose_y"  default="0.0"/>
  <arg name="initial_pose_a"  default="0.0"/>

<node pkg="amcl" type="amcl" name="amcl" args="scan:=scan2" output="screen">
<!-- Publish scans from best pose at a max of 10 Hz -->

<param name="odom_frame_id" value="odom_combined"/>
<param name="base_frame_id" value="base_footprint"/>
<param name="global_frame_id" value="map"/>
<param name="odom_model_type" value="diff"/>

<param name="transform_tolerance" value="0.5" />
<param name="gui_publish_rate" value="10.0"/> <!-- 5 -->
<param name="laser_max_beams" value="80"/>  <!-- 30 -->
<param name="min_particles" value="100"/>
<param name="max_particles" value="4000"/>
<param name="kld_err" value="0.05"/>
<param name="kld_z" value="0.99"/>
<param name="odom_alpha1" value="0.02"/> <!-- 0.2 -->
<param name="odom_alpha2" value="0.07"/> <!-- 0.2 -->
<!-- translation std dev, m -->
<param name="odom_alpha3" value="0.08"/> <!-- 0.8 -->
<param name="odom_alpha4" value="0.02"/> <!-- 0.2 -->
<param name="laser_max_range" value="5.6"/>
<param name="laser_z_hit" value="0.95"/>
<param name="laser_z_short" value="0.1"/>
<param name="laser_z_max" value="0.05"/>
<param name="laser_z_rand" value="0.05"/>
<param name="laser_sigma_hit" value="0.2"/>
<param name="laser_lambda_short" value="0.1"/>
<param name="laser_lambda_short" value="0.1"/>
<param name="laser_model_type" value="likelihood_field"/>
<!-- <param name="laser_model_type" value="beam"/> -->
<param name="laser_likelihood_max_dist" value="2.0"/>
<param name="update_min_d" value="0.08"/>  <!-- 0.2 **0.15-->
<param name="update_min_a" value="0.18"/>  <!-- 0.5 **0.12-->

<param name="resample_interval" value="1"/>
<param name="transform_tolerance" value="0.1"/> <!-- 0.1 -->
<param name="recovery_alpha_slow" value="0.0"/>
<param name="recovery_alpha_fast" value="0.0"/>

<param name="initial_pose_x" value="$(arg initial_pose_x)"/>
<param name="initial_pose_y" value="$(arg initial_pose_y)"/>
<param name="initial_pose_a" value="$(arg initial_pose_a)"/>
<param name="use_map_topic" value="$(arg use_map_topic)"/>

</node>
</launch>