Abstract
In this paper, we discuss formation control of multiple mobile robots with co-leader. Our objective is to realize the robust control method for applying the multi-robot system to various situations such as maintenance of the formation shape, obstacle avoidance and adjusting to environmental changes.First, we apply a spring model for constructing the formation and maintaining the optimum position between the robots. Next, we introduce the obstacle avoidance method by using fuzzy control.Finally, we show several experiments in simulation and real environments in order to verify the effectiveness our proposed method.