A method for controlling an autonomous mobile device, wherein a memory of the autonomous mobile device stores a first coordinate set, and the first coordinate set comprises coordinates of the autonomous mobile device acquired when the autonomous mobile device moves along a boundary of a work region during the planning of the boundary of the work region of the autonomous mobile device, the method being characterised by the following steps: determining a plurality of candidate positions based on the first coordinate set; determining the candidate position among the candidate positions that satisfies the condition for safe rotation of the autonomous mobile device and is closest to a current position of the autonomous mobile device as a first position, wherein whether the candidate position satisfies the condition for safe rotation of the autonomous mobile device is determined by: determining whether a maximum circumscribing circle intersects with a second boundary or a boundary of a forbidden region when the autonomous mobile device is at the candidate position, wherein the maximum circumscribing circle is centered on a movement center of the autonomous mobile device and has a radius of a distance from a point farthest from the movement center on the autonomous mobile device 100 to the movement center, the movement center is a point on a rotation axis of the autonomous mobile device, the second boundary is parallel to the first boundary, and at a distance of half the width of the autonomous mobile device from the first boundary; and determining that the candidate position satisfies the condition for safe rotation of the autonomous mobile device when the maximum circumscribing circle neither intersects with the second boundary nor intersects with the boundary of the forbidden region; controlling the autonomous mobile device to turn at the first position so that the autonomous mobile device is perpendicular to a first boundary corresponding to the first coordinate set, and a tail of the autonomous mobile device is closer to the first boundary than a head of the autonomous mobile device, wherein the front portion of the autonomous mobile device when the autonomous mobile device moves in a forward direction is the head of the autonomous mobile device, the end of the autonomous mobile device opposite to the head is the tail of the autonomous mobile device, and in the forward direction the movement center of the autonomous mobile device is behind a geometric center of the autonomous mobile device; controlling the autonomous mobile device to move backward to a second position, wherein the second position is closer to the first boundary than the first position and the autonomous mobile device does not trespass the second boundary when performing a 90 degree rotation at the second position; and controlling the autonomous mobile device to turn at the second position so that the autonomous mobile device is parallel to the first boundary. determining a plurality of candidate positions based on the first coordinate set; determining the candidate position among the candidate positions that satisfies the condition for safe rotation of the autonomous mobile device and is closest to a current position of the autonomous mobile device as a first position, wherein whether the candidate position satisfies the condition for safe rotation of the autonomous mobile device is determined by: determining whether a maximum circumscribing circle intersects with a second boundary or a boundary of a forbidden region when the autonomous mobile device is at the candidate position, wherein the maximum circumscribing circle is centered on a movement center of the autonomous mobile device and has a radius of a distance from a point farthest from the movement center on the autonomous mobile device 100 to the movement center, the movement center is a point on a rotation axis of the autonomous mobile device, the second boundary is parallel to the first boundary, and at a distance of half the width of the autonomous mobile device from the first boundary; and determining that the candidate position satisfies the condition for safe rotation of the autonomous mobile device when the maximum circumscribing circle neither intersects with the second boundary nor intersects with the boundary of the forbidden region; controlling the autonomous mobile device to turn at the first position so that the autonomous mobile device is perpendicular to a first boundary corresponding to the first coordinate set, and a tail of the autonomous mobile device is closer to the first boundary than a head of the autonomous mobile device, wherein the front portion of the autonomous mobile device when the autonomous mobile device moves in a forward direction is the head of the autonomous mobile device, the end of the autonomous mobile device opposite to the head is the tail of the autonomous mobile device, and in the forward direction the movement center of the autonomous mobile device is behind a geometric center of the autonomous mobile device; controlling the autonomous mobile device to move backward to a second position, wherein the second position is closer to the first boundary than the first position and the autonomous mobile device does not trespass the second boundary when performing a 90 degree rotation at the second position; and controlling the autonomous mobile device to turn at the second position so that the autonomous mobile device is parallel to the first boundary.