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Autonomous mobile robot navigation is a hot research field in recent years. We design a four-tracked autonomous mobile robot with a main-controller based on ARM s3c2410 and sub-controller based on ATmega128. The navigation system consists of GPS, INS, ultrasonic and infrared sensors. The used of the GPS and inertial navigation system for autonomous mobile robot makes its navigation precision and performance increase greatly. A new local path planning algorithm is presented, which is based on artificial potential field theory. By using the infrared sensors installed in front of the robot, it can detect whether there is a slope and calculate the angel of the slope.