Abstract: A motion control method, a sweeping machine, and a computer-readable storage medium are provided. The method includes: controlling a second wheel to rotate around a first wheel so that second wheel moves in a direction for passing through a passage, in response to a sweeping machine locating at an entrance of the passage; controlling the sweeping machine to move backward in response to a distance between the sweeping machine and the obstacle being less than a predetermined first distance threshold; and controlling the sweeping machine to rotate at a first predetermined angle around a center so that first wheel moves in the direction for passing through the passage, in response to the distance between the sweeping machine and the obstacle being larger than or equal to the predetermined first distance threshold, and returning to the step of controlling the second wheel until the sweeping machine passes through the passage.

Abstract: A method for docking a cleaning robot includes: obtaining a map of a scene where the cleaning robot is located, and a position of the cleaning robot in the map; determining a map contour where the position of the cleaning robot is located according to the map; determining a plurality of traversal points for searching for a charging station and a plurality of traversal areas corresponding to the plurality of traversal points according to the map contour; and searching for the charging station in the traversal areas corresponding to the traversal points according to a predetermined search order, until the charging station is found in the traversal areas, or the traversal areas corresponding to all of the traversal points have been searched.