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Recently, several studies were implemented in the mobile robotics field showing the great interest in developing automated algorithms for performing daily tasks. This paper discusses the implementation of an enhanced algorithm in performing autonomous parallel parking for a car-like mobile robot based on the traditional geometric approach. The developed algorithm depends mainly on the geometric dimensions of the vehicle and its maximum steering angle. An enhancement of the traditional algorithm is introduced where the minimal allowed length of the parking space is reduced using new factors and equations. The suggested algorithm is independent of the initial position of the vehicle. A mobile robot simulator was developed using MatLab software to apply and evaluate the introduced algorithm.