A computer-implemented method for a robot comprising a radar, the method comprising: obtaining scanning data produced by a radar of the robot, the scanning data indicative of one or more objects and an environment surrounding the robot; determining whether an arc-shaped object exists in a scanning range of the radar of the robot based on the scanning data, wherein the determining comprises: obtaining one or more sampling points from the scanning data; determining whether N sampling points meeting a preset first condition exists, wherein N is an integer greater than 1, and the first condition is a sum of an absolute value of one or more first error values being less than a preset first threshold, the first error value is a difference of a distance between each of the one or more sampling points and a reference point as well as a preset reference distance, and the reference point is any point within the scanning range; and determining that the arc-shaped object exists in the scanning range of the robot, in response to determining that the N sampling points meeting the first condition exist; in response to determining that the arc-shaped object exists in the scanning range of the robot, determining that the arc-shaped object is a charging station; in response to determining that no arc-shaped object exist in the scanning range of the robot, continuing to obtain scanning data produced by the radar of the robot; and moving the robot to the charging station. obtaining scanning data produced by a radar of the robot, the scanning data indicative of one or more objects and an environment surrounding the robot; determining whether an arc-shaped object exists in a scanning range of the radar of the robot based on the scanning data, wherein the determining comprises: obtaining one or more sampling points from the scanning data; determining whether N sampling points meeting a preset first condition exists, wherein N is an integer greater than 1, and the first condition is a sum of an absolute value of one or more first error values being less than a preset first threshold, the first error value is a difference of a distance between each of the one or more sampling points and a reference point as well as a preset reference distance, and the reference point is any point within the scanning range; and determining that the arc-shaped object exists in the scanning range of the robot, in response to determining that the N sampling points meeting the first condition exist; obtaining one or more sampling points from the scanning data; determining whether N sampling points meeting a preset first condition exists, wherein N is an integer greater than 1, and the first condition is a sum of an absolute value of one or more first error values being less than a preset first threshold, the first error value is a difference of a distance between each of the one or more sampling points and a reference point as well as a preset reference distance, and the reference point is any point within the scanning range; and determining that the arc-shaped object exists in the scanning range of the robot, in response to determining that the N sampling points meeting the first condition exist; in response to determining that the arc-shaped object exists in the scanning range of the robot, determining that the arc-shaped object is a charging station; in response to determining that no arc-shaped object exist in the scanning range of the robot, continuing to obtain scanning data produced by the radar of the robot; and moving the robot to the charging station.