The application discloses a zero-shot visual language navigation method based on graph constraint optimization, and the method comprises the following steps: performing multi-stage
decomposition, constructing a
directed acyclic graph comprising path point nodes and object nodes, wherein each path point node corresponds to one straight displacement and one or less rotation movement, and determining a navigation sequence through
topological sorting; converting semantic constraint relationships in the
directed acyclic graph into mathematical constraint conditions based on a predefined constraint
library, and the constraint conditions of each path point node are constructed based on the known coordinates of its parent node; solving the coordinates of the path point nodes by using a nonlinear optimization method, verifying whether the coordinates satisfy the drivable area constraint, and generating a navigation
tree structure comprising multiple possible solutions; when the current path is not feasible,
backtracking to an unexplored path with the deepest common parent node through a multi-solution path management mechanism of the navigation tree, and selecting an alternative path to continue navigation until the target position is reached.