Abstract: A novel dynamic formation control approach for multiple robots in uncertain environments is proposed, which adopts the formation parameter matrix to establish the relative relationship among the robots, transforms the global-level formation control problem into the problem that the-off-axis point of the follower tracks the-off-axis point on the virtual robot which has the same orientation with the leader robot and maintains the desired relative distance and desired observation angle with respect to its leader robot. The control law based on the derived error tracking system model about the follower and leader is designed to maintain the formation, and an obstacle avoidance strategy is proposed to prevent the robot from possible collisions with obstacles and other robots. Simulation results are given to demonstrate the feasibility and effectiveness of the approach.