The invention provides a
semantic map construction method, device and
system for
robot navigation. The method provided by the embodiment of the invention can comprise the steps of geometry-topology SLAM increment updating, sparse imaging evidence generation, analysis availability field calculation, formalized semantic constraint compiling, increment
satisfiability solving and minimum conflict
processing, logic entropy driven active exploration, updating change arbitration and audit account book maintenance. Wherein the increment
satisfiability solving and the minimum conflict
processing comprise the following steps: executing increment
satisfiability solving on a formalized semantic constraint set, if the formalized semantic constraint set cannot be satisfied, positioning a minimum unsatisfiability subset, approximately determining a minimum constraint set according to a
rollback set, and executing minimum
rollback processing to obtain a constraint solving output result, the constraint solution output result comprises a consistency solution space generated in the
current period and a logic entropy value. According to the method, accumulated errors or logic contradictions of
semantic information in long-term operation can be effectively avoided, and stable evolution of the
semantic map is ensured.