Abstract: The paper explores the formation control problem of multiple unmanned intelligent vehicles moving in complex environments with the leader-follower method, and designs a formation controller and a formation control scheme by adopting a closed-loop control law, which is advantageous in that it realizes precise control mainly by considering the distance and angle between intelligent vehicles, while referring to the information between the leader and the neighboring followers. Based on the simulated test environment built, the improved control method is tested against the traditional formation method. The experimental results show that the method proposed in this paper has better motion control effects in complex environments.