Supervisory fuzzy control is a type of adaptive fuzzy control as it seeks to observe the current behavior of the control system and modify the controller behavior for better performance. It adaptively integrates the whole variety of information received from the sensory feedback systems and selects the optimal control action. This paper describes design, modeling and implementation of a new type of supervisory adaptive fuzzy controller, designed for intelligent robotic vehicles which could be interfaced with a microcontroller and an ultrasonic sensor. Distance between the obstacle and sensor and its time rate are considered as inputs and how the robotic vehicle has to take diversion is treated as output. The obstacles are identified as stationary or moving objects and accordingly adaptive self tuning with supervisory control is accomplished, based on various linguistic rules. The performance of the controller is evaluated by generating fuzzy control and contour surfaces. Copyright © IICAI 2005.