A parking system includes automated guided vehicles (AGVs) for moving automobiles to and from parking spaces in a parking facility. Each AGV is provided with a Hall effect sensor array. The parking facility has magnet arrays affixed to the floor of the parking facility. Each magnet array includes a plurality of magnets, with a specified arrangement of positive and negative poles of the magnets in the magnet array. The Hall effect sensor array senses the magnets and guides the AGV through the parking facility based on the position and alignment information determined by the Hall effect sensors.