Abstract: Coadaptive following problem of swarm robot system with multiple leaders in dynamic damping environment is studied.Ant colony algorithm is adopted to identify the leader for agents to follow,which is based on both the local following information of its neighbors and the requirements of the leaders.In order to realize following,this method can divide the swarm into different sub-groups in accordance with the requirements of leaders.Fuzzy adaptive method is utilized to adjust the parameters of the controller,so that the swarm robot system can overcome the impact of the dynamic damping factors in the environment.The simulation results testify the validity of the presented algorithms.