The autonomous vehicle, AMIGO 2002, successfully demonstrated autonomous movement and waypoint navigation at the 10th IGVC (Intelligent Ground Vehicle Competition). However, despite its impressive success, the AMIGO 2002 showed a few shortcomings. It failed to arrive at its destination on the Autonomous Challenge course and missed one waypoint in the Navigation Challenge. Since the outbreak of SARS in June 2003, we were unable to attend the 11th IGVC due to the recommendation of the University. In the fall, 13 students set out to redesign the AMIGO 2003, and the team was formally organized in March 2004. The task for the team is to complete all competitions. We refer to our newly designed AMIGO as an "Intelligent Wheelchair", expressive of the vehicle's design concept. Figure 1 shows the final design image of the AMIGO.
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