1. Output and Storage
   1. SD Card
   2. LCD
   3. Serial
2. Sensors
   1. GPS
   2. IR Distance
   3. Ultrasonic Distance 1
   4. Ultrassonic Distance 2
3. Processing
   1. Heading to next waypoint
   2. Distance to next waypoint
   3. Proceed to next way point
   4. Object detected by IR sensor
   5. Object detected by Ultrasonic sensor
   6. Stop vehicle after last waypoint reached
4. Guidance
   1. Steer in the direction of next way point
   2. Reverse direction if stationary
   3. Stop if object is detected
   4. Accelerate at sloped rate
   5. Reverse 90-degrees if necessary