In this research work, an approach for fire detection and estimation robots is presented. The approach is based on type-2 fuzzy logic system that utilizes measured temperature and light intensity to detect fires of various intensities at different distances. Type-2 fuzzy logic system (T2 FLS) is known for not needing exact mathematic model and for its capability to handle more complicated uncertain situations compared with Type-1 fuzzy logic system (T1 FLS). Due to lack of expertise for new facilities, a new approach for training experts’ expertise and setting up T2 FLS parameters from pure data is discussed in this thesis. Performance of both T1 FLS and T2 FLS regarding to same fire detection scenario are investigated and compared in this thesis. Simulation works have been done for fire detection robot of both free space scenario and new facility scenario to illustrate the operation and performance of proposed type-2 fuzzy logic system. Experiments are also performed using LEGO MINDSTROMS NXT robot to test the reliability and feasibility of the algorithm in physical environment with simple and complex situation.