This paper proposes a parking problem of autonomous agents in finite time. Based on the nonlinear motion model
of the agent in polar coordinates, the motion control system of the agent is divided into two types: the linear system of rotation
and the weakly nonlinear system of rectilinear motion together with rotation. The switching control laws are designed to
guarantee that the agent can reach a given parking domain in finite time by using the Lyapunov designing method. The
evaluating formula of the finite time is obtained. A simulation example shows the effectiveness of the designing method.