Mobile robot navigation method, system and equipment and storage medium

The invention relates to the technical field of navigation, and provides a mobile robot navigation method, system and device and a storage medium, and the mobile robot navigation method comprises the steps: obtaining the current position, speed and target position of a mobile robot, and collecting sensor information through a laser radar sensor; the current position, the speed, the target position and the sensor information are input into a preset deep hierarchical reinforcement learning map-free scene navigation model, robot driving action information is obtained, and the preset deep hierarchical reinforcement learning map-free scene navigation model comprises a high-layer target selection sub-model and a low-layer obstacle avoidance control sub-model; and controlling the mobile robot to travel to the target position based on the robot travel action information. According to the method, the construction time of the navigation model can be shortened, and the generalization is good, so that the navigation of t