The Internet of things (IoT) concept is evolving rapidly and influencing new development in various application areas, that allow massive numbers of uniquely addressable things to enables interconnectedness among devices. In Simultaneous localization and mapping (SLAM), the robot acquire its map of environment while simultaneously localizing itself relative to the map. During autonomous navigation robot equipped with suit of sensors and technology that enabled to autonomous navigation, obstacle detection and avoidance. In this paper, present novel approach that, during autonomous navigation, if we want to avoid something not be avoidable for example things like our doors. ROS (Robot Operating System) enabled ground mobile robot like TurtleBot3, using Cloud IoT approach to communicate with obstacle thigs on the path like locked door and then will open for it and traverse the doorway to continue to the destination. In this research, the door are left open dooring map generation.