The whole behavior of generating formation of multiple mobile robots is divided into sub behaviors of individual mobile robot moving to corresponding goal in this paper. Distributed control architecture is proposed based on two layered supervision mode. The reasonable goal corresponding to an individual mobile robot is determined by the supervision module that is the core of decision and coordination. So the situation that the robot is forced to make a detour in the target region is avoided, and arbitrary formation of multiple mobile robots is generated smoothly and quickly. The validity of the control method is proved by robot experiment.