A docking system includes a mobile robotic device and a charging station to which the robotic device is to dock. The robotic device is comprised of sensors to capture a homing signal emitted by the charging station, docking logic that processes the homing signal so that it can be used to control the movements of the robotic device towards and dock with the charging station, and it is comprised of a mechanism for receiving a cylindrical charging post. The charging station is comprised of a circular platform in the center of which is located the charging post that is generally cylindrical in shape. The charging post includes a charging contact, ground contacts and an IR emitter. The geometry of the receiver mechanism elements and the shape of the charging post and geometry of the charging station generally permits the robotic device to approach the charging station and to dock with the charging station from any angle.