A method for docking an autonomous mobile robot, comprising: step S1: determining a first effective area , wherein the first effective area is defined by one or more first boundaries, and the autonomous mobile robot is located in the first effective area ; step S2: determining a first effective boundary from the one or more first boundaries of the first effective area, wherein the first effective boundary is in a coverage area of a homing signal of a charging station; characterized by : step S3: determining an optimal point from one or more candidate optimal points on the first effective boundary, wherein each of the one or more candidate optimal points defines a respective second effective area centering on the each of the one or more candidate optimal points and overlapping with the first effective area to form a respective overlapping area, wherein a respective overlapping area associated with the optimal point is smallest among respective overlapping areas associated with the one or more candidate optimal points; wherein the first effective area and the second effective area are areas without obstacles; step S4: controlling the autonomous mobile robot to move to the optimal point; and repeating steps S1-S4 to make the autonomous mobile robot reach the vicinity of the charging station so as to make the autonomous mobile robot perform docking by receiving the homing signal through a signal receiver provided on the autonomous mobile robot. step S1: determining a first effective area , wherein the first effective area is defined by one or more first boundaries, and the autonomous mobile robot is located in the first effective area ; step S2: determining a first effective boundary from the one or more first boundaries of the first effective area, wherein the first effective boundary is in a coverage area of a homing signal of a charging station; characterized by : step S3: determining an optimal point from one or more candidate optimal points on the first effective boundary, wherein each of the one or more candidate optimal points defines a respective second effective area centering on the each of the one or more candidate optimal points and overlapping with the first effective area to form a respective overlapping area, wherein a respective overlapping area associated with the optimal point is smallest among respective overlapping areas associated with the one or more candidate optimal points; wherein the first effective area and the second effective area are areas without obstacles; step S4: controlling the autonomous mobile robot to move to the optimal point; and repeating steps S1-S4 to make the autonomous mobile robot reach the vicinity of the charging station so as to make the autonomous mobile robot perform docking by receiving the homing signal through a signal receiver provided on the autonomous mobile robot. step S3: determining an optimal point from one or more candidate optimal points on the first effective boundary, wherein each of the one or more candidate optimal points defines a respective second effective area centering on the each of the one or more candidate optimal points and overlapping with the first effective area to form a respective overlapping area, wherein a respective overlapping area associated with the optimal point is smallest among respective overlapping areas associated with the one or more candidate optimal points; wherein the first effective area and the second effective area are areas without obstacles; step S4: controlling the autonomous mobile robot to move to the optimal point; and repeating steps S1-S4 to make the autonomous mobile robot reach the vicinity of the charging station so as to make the autonomous mobile robot perform docking by receiving the homing signal through a signal receiver provided on the autonomous mobile robot. <EOS>