acquiring GPS information, inertial measurement data and three-dimensional point cloud data of a robot at a current position;

determining a pose change of the robot based on the inertial measurement data of the robot at the current position;

performing distortion correction on the three-dimensional point cloud data of the robot at the current position based on the pose change of the robot;

acquiring, based on a correspondence relationship between GPS information and two-dimensional maps, a two-dimensional map corresponding to the GPS information of the robot at the current position, wherein connection lines between three-dimensional coordinates corresponding to any two points on the two-dimensional map are at a substantially same angle with a horizontal plane, and a pitch angle corresponding to the pose change during a movement of the robot on a same two-dimensional map is less than a set angle;

projecting the three-dimensional point cloud data after the distortion correction onto a road surface where the robot is currently moving, to form two-dimensional point cloud data of the robot at the current position by using points closest to the robot from the robot in various directions away from the robot;

matching the two-dimensional point cloud data of the robot at the current position with the two-dimensional map corresponding to the GPS information of the robot at the current position, and selecting a position with the highest matching degree as the current position of the robot; and

controlling the robot according to the selected position with the highest matching degree.