In this paper, we present an autonomous system for landing point-mass robots on car-like mobile landing platforms in 3-dimensional space using Lyapunov-based control scheme (LbCS). Herein, we have designed the nonlinear, time-invariant acceleration-based control algorithm for the Autonomous Vehicles (AVs), which was extracted using the LbCS. Fixed and moving obstacles were included in the dynamic environment under consideration, which the point-mass robots and the mobile landing platforms avoided while in motion to their respective targets. The control laws take into consideration cylindrical obstacles that mimic buildings in a city-like environment. In addition, the Minimum Distance Technique (MDT) has been used to derive the mathematical functions related to cylindrical obstacles and their successful avoidance. To demonstrate the stability of the dynamic model, the direct Lyapunov approach is utilized. Computer simulations of real-world situations were used to demonstrate the effectiveness, robustness, and advantages of the control scheme. Future work will involve experimentally evaluating this strategy on an actual prototype.