This paper presents a solution to the tracking problem, which is one of the interesting research topics, for a robot with obstacle avoidance via simple fuzzy control. The proposed forms of membership functions are designed in light of ease of implementation for real-world application. Control parameters are considered and assigned based upon size of the robot and interaction distance between sensors and environment. To evaluate the effectiveness of the design, computer simulation using Visual Basic is carried out to validate the robot movement. The results show high possibility for implementation of the system using the proposed design.