The paper presents a guidance and control design approach for a GPS-based unmanned vehicle. This unmanned vehicle is equipped with a GPS module to receive the signal for localization. The purpose is to guide the unmanned vehicle to travel on a desired path. By extracting the attitude of the nominal vehicle, a fuzzy gain-scheduling methodology is employed to coordinate the three different operation phases to control the attitude of unmanned LEV. Since the attitudes of unmanned vehicle match the behavior of nominal vehicle, the guidance task is accomplished. Computer simulations for GPS-based unmanned vehicle demonstrate the effectiveness of the fuzzy gain-scheduling control design method.