Abstract: In view of the multi-robot formation control problems existing in unknown environment,a multi-robot formation control algorithm based on dual-mobile beacon is proposed.In the new algorithm,two mobile beacon robots are designed as pilot robots and a positioning model is designed based on ultra-wide band ranging technology.Multi-robot formation control is obtained by controlling the pose state of the following robots,and a multi-sensor data fusion algorithm is designed to improve the formation control precision efficiently.This algorithm solves the problem of multi-robot formation control existing in unknown environment and improves the formation control precision.Simulation results show the feasibility and validity of the formation control algorithm.