The invention discloses a multi-
robot formation method, belonging to the field of
intelligent control. The method comprises the following steps of: controlling the whole formation motion trail by the leader motion trail, firstly, determining a
kinematics model of the leader, and determining the direction of the motion of the leader according to a
resultant force of a repulsive force and a
gravitational force; creating a motion model of following the leader by the follower, following the leader by the follower according to certain distance and angle, and determining the motion trail of the follower according to a motion model created by the artificial
potential field; introducing an AdHoc between the leader and the follower, creating
information feedback, and ensuring that no loss occurs in the process of following the leader by the follower. With the method provided by the invention, a multi-
robot system can successfully avoid obstacles in the process of finishing tasks to reach a target point, and also can keep initial order in the whole process, implement real-time
order control on multiple robots and be more suitable for some occasions where multiple robots are needed for finishing tasks (such as transporting, rescuing and the like) synchronously.