This paper proposes a method of robot formation and tracking control based on the comprehensive application of multiple sensors. The method uses a two-dimensional laser radar to construct a high-precision map and performs multi-point sequential navigation to provide a travel path for the robot formation. Then use binocular vision to complete the recognition and positioning of other robot members in the formation, and adopt the leader-follower mode to realize different formations. Next, the wireless communication module is used to send and receive commands, thereby implementing the formation transformation. Finally, the effectiveness of the method is verified by experiments.