This study is dedicated to developing a control system for an intelligent unmanned delivery vehicle with rear wheel independent drive. This design includes kinematic analysis based on AT89C51 microcontroller, control software development, arc path interpolation technology and control system circuit design. Typically, a high-precision digital encoder was designed to be installed on the rotating shaft of the motor to produce two pulse signals with a phase difference of 90 degrees, which is essential for determining the motion state of the motor. And the detection of the motor’s rotation direction was achieved through a cleverly designed forward circuit. This system will continuously monitor the driving trajectory concluding from the initially predetermined route and the actual trajectory. As a result, this miniature vehicle is engineered to autonomously navigate and meticulously control its movement trajectory with high precision and efficiency, effortlessly navigating both straight lines and intricate arcs, which propelled a significant enhancement in both the overall level of production automation and the efficiency of manufacturing processes.