To ensure safe and effective navigation in mobile robot systems, it is crucial for the robot to possess a predetermined map. However, manual mapping for robots is limited in terms of productivity and processing time. This study presents a novel approach that enables robots to autonomously explore their surroundings and generate maps using the RRT algorithm. To enhance the robot’s navigation strategy, we integrate the SLAM algorithm based on Dijkstra algorithm and Dynamic Window Approach. Our proposed algorithm identifies border points and guides the robot towards them, automating the mapping process entirely. Moreover, we construct a robot model and evaluate its velocity and trajectory in an environment with dynamic obstacles. The results demonstrate that our method enables the robot to automatically generate maps and successfully avoid dynamic obstacles with high reliability. This research outcome holds promise for application in complex environments and addresses challenging tasks in intricate problems.