A mobile robot device and a method for controlling a mobile robot device to more accurately control positioning of the mobile robot device relative to a docking station. The mobile robot device obtains a first position relative to a docking station by scanning surroundings of the mobile robot device using a LiDAR sensor emitting a first frequency, moves the mobile robot device towards the charging station based on the first position, determines whether a distance to the charging station is within a first distance, controls the LiDAR sensor to scan the surroundings of the mobile robot device by changing a frequency of the LiDAR sensor to a second frequency less than the first frequency when the mobile robot device approaches within the first distance, and moves the mobile robot device towards the charging station based on the LiDAR sensor emitting the second frequency.