In order to realize the formation of multi-robot control. We uses RFID radio frequency card positioning method and the formation of a ZigBee network with combining sensors, we establish data center to control the formation of four robots. Data center takes STM32 as master, and CC2530 is as a communications platform, each robot is controlled by STM32 master, CC2530 wireless communication module, compass module, RFID reader modules and other components. Experimental results show that this method can effectively, accurately and quickly control multiple robots formation.