AUTONOMOUS DRIVING CHARGING ROBOT CONTROL METHOD, AUTONOMOUS DRIVING CHARGING ROBOT CONTROL DEVICE, RECORDING MEDIUM STORING INSTRUCTIONS TO PERFORM AUTONOMOUS DRIVING CHARGING ROBOT CONTROL METHOD

There is provided a method of controlling driving of an autonomous driving charging robot obtains a first position which is a position within a predetermined distance from a charging vehicle with which a charging power is to be supplied, and a second position which is a position of the autonomous driving charging robot that is to supply the charging power; calculates a displacement vector from the second position to the first position, and calculates an angle between a first direction which is a current heading direction of the autonomous driving charging robot, and a direction of the displacement vector; and determines a driving mode of the autonomous driving charging robot based on the angle, wherein, the heading direction, the first position and the second position are defined on a same plane.