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This article described how project-based learning helps engage students in the design of a complicated system. Throughout the course of the project, a student demonstrated a holistic learning process and managed to accomplish all the stated objectives of the project. The project emphasized techniques for solving control problems. To give the student a manageable learning experience, the project was divided into eight subtasks. Through the completion of subtasks, the student learned problem-solving techniques for practical controller design such as planning, literature survey, reading technical datasheets, trouble-shooting, and experimental testing and evaluation. These techniques can be used for other engineering design projects. The project involved vertical and horizontal integration of different subjects for a meaningful application. The prototype vehicle is currently used for undergraduate demonstrations and research in autonomous vehicles.