## 1 Introduction
\begin{table}
\begin{tabular}{c l c l} \hline \hline
**Items** & **Characteristics** & **Items** & **Characteristics** \\ \hline SP & Main emphasis & \(l_{p}\) & Distance center of gravity front axle \\ \hline VR & Front wheel & \(\delta\) & Steering angle (rad) \\ \hline HR & Rear wheel & \(v\) & Current velocity \\ \hline \(r\) & Curve radius & \(a\) & Zero-point shift \\ \hline \(l_{h}\) & Distance center of gravity front axle & \(b\) & Slope of straight line \\ \hline \(\zeta\) & Auxiliary angle (rad) & \(\phi\) & Orientation angle (rad) \\ \hline  & Sideslip angle (rad) & \(\delta_{play}\) & Relative maximum deviation \\ \hline \(G(s)\) & Transfer function & \(\omega_{max}\) & Step response (EncImp/s) \\ \hline \(\frac{d\phi}{H}\) & Orientation change & \(K_{p}\) & Controller gain \\ \hline \hline \end{tabular}
\end{table} 
Table 1: Technical parameters of auto-MERLIN. Figure 1: Attached robot on the Monster Truck HPI Savage 2.1. Firstly, let us understand the steering mechanism of a car-like mobile robot. The steering mechanism consists of two wheels at the front and two wheels at the back of the robot. The front wheels are connected to a steering mechanism that allows them to turn in different directions. By turning the front wheels, the robot can change its direction of movement. The back wheels propel the robot and keep it moving in a straight line. To control the robot's orientation, it is necessary to control the movement of the front wheels. The movement of the front wheels determines the direction of movement of the robot. The robot's orientation can be controlled by changing the angle of the front wheels. This can be done using a servo motor connected to the robot's steering mechanism. The servo motor can be controlled using a microcontroller that receives input from various sensors. Various sensors can be used to control the orientation of the robot. These include gyroscopes, accelerometers and magnetometers. A gyroscope measures the robot's rotation rate, while an accelerometer measures its acceleration. A magnetometer measures the magnetic field around the robot. Using these sensors, the microcontroller can determine the robot's current orientation and adjust the angle of the front wheels accordingly. The orientation control of a car-like mobile robot with a steering mechanism is crucial for its navigation system. By accurately controlling the robot's orientation, it can move efficiently and precisely toward its target. This is particularly important in applications such as autonomous vehicles, where the robot must navigate complex environments without human intervention. The importance and contribution of the proposed research work is given below:  
* The objective was to equip auto-MERLIN to navigate the desired path, sense obstacles and escape them. It needs advanced control electronics to be produced because the existing design did not fulfil the requirements. * An important aspect of its navigation system is the orientation control of a car-like mobile robot with a steering mechanism. * By controlling the movement of the front wheels, the robot's orientation can be controlled. This can be achieved using sensors and a microcontroller that adjusts the angle of the front wheels. * Efficiently and accurately navigate the robot toward its destination should be carried out with precise orientation control. * A more sophisticated approach of self-localization and orientation control of the mobile robot is a dire requirement in the healthcare environment, which is discussed in this paper.