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Although various methodologies have been suggested for solving such formation control problem in the literature, the proposed kinematical method of the present investigation has several advantages in terms of its robustness, tracking performance, and superior energy consumption due to the fuzzy logic scheme developed.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>In an attempt to make the follower robot to assume the proper orientation, a new concept is presented which defines an appropriate heading angle. This concept is based on the natural human behavior as corresponds to situations of tracking a certain trajectory. The proposed heading angle planner is based on a two\u2010stage fuzzy logic system, providing appropriate heading angles for the mobile robot at each instant. In order to adjust the linear\/angular velocity of the robots then, two further fuzzy controllers are devised.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>The results obtained from the computer simulation studies reveal the merits as well as effectiveness of the proposed method for formation control of a group of WMRs in the presence of usual control input constraints, noisy sensor data, and external disturbances.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>A novel method based on a fuzzy leader\u2010follower method is presented for the formation control of a group of robots.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439911111122770","type":"journal-article","created":{"date-parts":[[2011,5,21]],"date-time":"2011-05-21T08:00:28Z","timestamp":1305964828000},"page":"269-281","source":"Crossref","is-referenced-by-count":11,"title":["A fuzzy logic\u2010based formation controller for wheeled mobile robots"],"prefix":"10.1108","volume":"38","author":[{"given":"Mohammad","family":"Hadi Amoozgar","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Khalil","family":"Alipour","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Seyed","family":"Hossein Sadati","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","reference":[{"key":"key2022031320292074700_b15","unstructured":"Bazoula, A., Djouadi, A.M.S. and Maaref, H. 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