The one that has CLARITY is, "I INTEND TO...." This is your intention, plan, what you mean to do.
Example: "I intend to do all my housework tomorrow!" Well, it's my intention, but knowing me, I probably won't do it!
The other one is a little ambiguous. It could be your intention, or it could be a fact. It probably depends on your INTONATION/emphasis/tone of voice.
Example: "I'm GOING TO DO ALL MY HOUSEWORK tomorrow!" Well, this is my intention, but I'm afraid I might not do it all. I might not even start it! I'm lazy. But I certainly INTEND to do it!
OR, it could be a FACT. "I'm going to finish my housework at 3 p.m." Decision made! I suppose it is also my plan, but it's pretty certain to happen. Even more certain: I'm going to finish college in 3 years' time (because that's when the course ends - the college has set the date - it's a fact - you may not have passed the exam - but the course ends then!)