Unmanned vehicles that use Global Positioning System (GPS) are very popular, but this kind of vehicle may work unsatisfactory when it can not receive GPS signals correctly. In this study, a solution to this problem was investigated. In general, unmanned vehicles run according to a pre-mapping procedure. However, an unmanned vehicle was made to run without pre-mapping in this study. Furthermore, this research shows that the rotation of the map will save time in route planning and the unmanned vehicle can also avoid obstacles by means of an ultrasonic sensor. If there is not any obstacle on the prescribed path, the unmanned vehicle will run smoothly. If there are some obstacles in the way, however, the unmanned vehicle can still follow the shortest route to reach its destination. This unmanned vehicle can operate correctly in the absence of GPS-guidance.