Aiming at the problem of multi-agent formation control and obstacle avoidance in dynamic environments, we propose a formation method based on fuzzy artificial potential field method. Firstly, the method uses the artificial potential field method to plan the path of obstacle avoidance for each agent in the multi-agent formation under the heterogeneous mode of controlling the shaped formation and the dynamic formation transformation strategy under the framework of the leader-follower method. Secondly, the fuzzy controller is used to control the follow-up agent to track the leader agent while maintaining the relative distance between the following agent and the piloting agent. When encountering unknown obstacles, the original multi-agent formation is preserved and the obstacles are avoided in time. Aiming at the limitation of the artificial potential field method in setting of gravitational increment coefficients and repulsive force increment coefficients, the fuzzy controller is used to select incremental coefficients so as to adapt to the environment. The MATLAB simulation experiments show that the proposed method can effectively solve the problems of multi-agent formation control and obstacle avoidance in complex environments, and analysis on experiment data by the efficiency function verifies the rationality and effectiveness of the optimization method.