In this thesis the development of an autonomous wall-following robot is presented. The

wall following controller is a two input, two output system. The inputs are two proximity

measurements to the wall, and the outputs are the speeds of the two rear wheels. For the

embedded fuzzy logic controller, the behavior must be approximately encoded for the

target processor, and then downloaded to the chip for execution. The target system is a

small mobile robot equipped with an embedded microcontroller based on a Microchip

PIC16F877 microcontroller. The robot is driven by two independent servo motors