The multi-robot system (MRS) can employ several robots with relatively simple functions to perform more complex tasks.Compared with single robot transportation,MRS demonstrates greater flexibility,scalability and multi-product compatibility in the transfer of oversized and overweighted objects.A multi-mobile robot cooperative transport system was proposed,which could realize the stable operation of mobile robots without trajectory and load frame constraints.Based on cooperative positioning and leader-follower formation control method,the limited wheel drive capability was combined with the corrective demands to output the control amount of following unit,the all directional movement advantage of full steering wheel-driven mobile robot could be realized,to ensure the valid output speed commands and stability while the pose deviation was reduced and stabilized.Considering the practical application scenarios,the all directional force floating mechanism installed at the top of each robot could prevent the workpiece from being damaged by the external force caused by the limited relative pose deviation of the group.The collaborative transport platform composed of four mobile robots was built and tested.The experiment results show that the entire formation works stably under the control method.Under straight trajectory and arc trajectory,the relative position deviation of each robot is less than 40 mm,and the pose deviation is less than 6°.