We report on experiments designed to highlight the strengths and weaknesses of an autonomous rule acquisition algorithm for the fuzzy controller of a simulated mobile robot. The algorithm is a Pittsburghstyle Fuzzy Classifier System. The highly cross-coupled and co-operative nature of fuzzy inference systems makes autonomous creation of an optimal rule-base a tough proposition. However, our results show that this architecture can regularly find highperformance solutions that eluded the designers of a hand-coded fuzzy controller