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Autonomous system have been interesting topic in the world of robotics, in order to replace human being. Intelligent vehicle is one of the popular autonomous system that gives many advantage for this world, not only in military but also civilian. Route control and obstacle avoidance are now considered as major problems in autonomous system. In this paper, new methods of routing and avoidance algorithm for intelligent vehicle are proposed. It is about using an artificial intelligence algorithm together with avoidance system for navigating those vehicles. With reference to global positioning system (GPS), the robot will recognize its own position on earth and its destination by approximation. To improve the approximating ability of the position defined, sensor system is used as additional reference. The computation process is used for calculating the route for the vehicle to move. If there is any obstructer on the route, avoidance algorithm will be used for avoiding the collision. Real-time tracking and sensor-based system are main sensory devices for testing avoidance algorithm.