Abstract: A control method for multi-robot coordination is presented,and it consists of two levels. The first level is High Level Control Module (HLCM),in which task assignment and replanning is performed. The second level is Low Level Control Module (LLCM),which completes the logical control of each robot. Reachability tree is used to check deadlock in the Petri net model and the method to eliminate deadlock is also presented. Experiment results prove the effectiveness of this method.