The invention discloses a
robot navigation method based on a plane
layout. The method comprises the following steps: S1, based on a building plane
layout map, analyzing an image by using a multi-
modal large model, extracting topological and geometric features in an environment, and constructing a semantic topological structure; s2, acquiring a navigation task instruction, and analyzing corresponding initial topological node and target topological node information; s3, inputting the semantic topological structure and the node information into a large
language model, and generating a global path node sequence by utilizing the spatial reasoning capability of the large
language model; s4, on the basis of real-
time data acquired by the environment sensing equipment and
prior information of the plane
layout, the real-time
pose of the
robot is determined in a mode of fusing semantic observation matching and geometric observation matching; and S5, based on the node sequence and the real-time
pose, planning a global geometric path, and using a local planner and a controller to drive the
robot to move to a target point along the path. The method does not need to construct an SLAM map in advance, and is low in cost and good in flexibility.