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The paper addresses autonomous parking control of an active-joint center-articulated mobile robot. We first propose a kinematic model of the robot and then a proper law is derived to stabilize the configuration of the vehicle to a small neighborhood of the goal. The control law is designed by Lyapunov techniques and relies on the equations of the robot in polar coordinates. A beacon-based guidance system also provides feedback from the position and orientation of the target. Simulation results show the robots ability to start from any arbitrary position and orientation, and achieve successful parking.