This paper presents the design of a fuzzy logic cooperative control by implementing the leader-follower approach that allows establishing and maintaining a specific geometric formation to a mobile robot group while they are moving along a predefined trajectory. As a result of the research, it was proved by simulation a cooperative control system that permits a set of robots to keep a specific formation while the group performs a predetermined mission. This control system helps to avoid obstacles by modifying the formation or by changing the leader inside the group.