Aiming at the problem of large force fluctuations of each agent in the process of group movement,which leads to group movement oscillations,a control algorithm based on the combination of distributed artificial potential field method and fuzzy contr ol is proposed.By analyzing the force of the agents in the process of group movement,establish the dissipation force to optimize the oscillation during the movement,reduce the ne gative impact of the oscillation during the movement of the group,and improve the consistency of the group movement.Establish retention to optimize the stability and maintenance of the formation,and improve the stability of the formation.Use the optimized resulta nt force as the input of the fuzzy controller,adapt to environmental changes through intensive learning,adjust the parameters to control the output,and realize the group follow-up mo vement control.In addition,a variety of formation control generation models that can be automa tically adjusted are given to realize group formation movement control.The simulation r esults show that the group can be stably and effectively controlled to follow the movement, and the formation can effectively avoid obstacles during the movement,which can improve the movement efficiency of the formation and maintain the topological stability.