Beacon-Based Feedback Control for Parking an Active-Joint Center-Articulated Mobile Robot

This paper presents an autonomous parking control strategy for an active-joint center-articulated mobile robot. We first derive a kinematic model of the robot, then propose a control law to stabilize the vehicle's configuration within a small neighborhood of the goal. The control law, designed using Lyapunov techniques, is based on the robot's polar coordinate equations. A beacon-based guidance system provides feedback on the target's position and orientation. Simulations demonstrate the robot's ability to park successfully from arbitrary initial poses.