The present disclosure provides a
semantic map construction method, device and
system for
robot navigation. The method of the present disclosure embodiment can include: geometric-topological SLAM incremental updating, sparse imaging evidence generation,
parsing availability field calculation, formalized semantic constraint compilation, incremental
satisfiability solving and minimum conflict
processing, logic entropy driven active exploration and update change arbitration and audit book maintenance; wherein the incremental
satisfiability solving and minimum conflict
processing includes: performing incremental
satisfiability solving on the formalized semantic constraint set, if unsatisfiability occurs, locating the minimum unsatisfiable subset, approximately determining the minimum constraint set according to the
rollback set and performing the minimum
rollback processing to obtain the constraint solving output result, the constraint solving output result includes: the consistency solution space generated in the
current period and the logic entropy value. The present disclosure can effectively avoid the accumulation of errors or logical contradictions of
semantic information in long-term operation, and ensure the stable evolution of the
semantic map.