A novel multi-robot formation control method based on planetary system is proposed in this paper, which has effectively achieved formation for multi-robot by adjusting the distance and angle between the leader and the follower-robots, thus enables robots to successfully avoid collision and obstacles, and at the same time, outperformed than the conventional formation control methods which always have low precision and make the robots be prone to lag behind. Furthermore, simulations are presented to illustrate the feasibility and the stability of the planetary system-based approach as well as the intelligence and environmental adaptation of the system has been enhanced.