Aimed at the formation control of multiple robots in complex environment, the leader-follower method is combined with behavior-based method. The proposed robots can track the chain through the barrier in a complex environment and then re-team to adapt to the environment, avoiding the robots’ droping out from other robots in a complex environment. In the obstacle-avoidance activities, the robots can avoid barriers based on the predictable trend, so that the control behavior of both simple and effective. Simulation results show that the formation control algorithm is effective. The feasibility and validity of the formation control strategy are also indicated.