Abstract: This paper presents the navigation of an autonomous vehicle in real-world environments. Due to uncertainty in the environment, a complex decision based mechanism is required for path tracking based on sensing the environment and controlling the robot under different conditions. The autonomous vehicle consists of 3 ultrasonic range finders (sensors) mounted on the chassis which is used to determine the distance in three different direction: left, right and front. Several test cases are considered to take into account different situations like different types of obstacle and the position of obstacles. The robot makes its decision using if-else conditions and the speed is varied for smooth navigation.