Autonomous vehicles recently show great possibilities to improve transportation safety and efficiency. This project seeks to expand on the current generation of autonomous vehicles by making them fully actuated with four in-wheel driving motors and two steering motors. To achieve autonomous driving, various perceptions systems including Radar, camera, and ultrasonic sensors are required. Ultrasonic sensors have been tested and partly installed on the vehicle. Some test results and sensor localizations have been explored. The future work includes the completion of all the ultrasonic sensors installation on the vehicle and integration with vehicle control algorithms.