Abstract: A robot controlling method applied to a robot is provided. In the method, the robot obtains a target position and a current position of a robot, obtains a target floor of a target building according to the target position, obtains an initial floor of the target building according to the current position of the robot, generates an indoor expected passable map according to the target floor and the initial floor, generates an indoor planned path according to the indoor expected passable map, the current position, and the target position, and controls the robot to move according to the indoor planned path. The method can help the robot performing tasks in a multi-floor building.