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Aiming at problems such as difficulty for multi-robots in arriving at an intended target by keeping certain formation in uncertain environments, this paper proposed a multi-robot formation control algorithm in no need of world coordinates. This algorithm realized control of multi-robots in any formation with the controller of three rules of "separation"" aligning" and "formation" designed according to Reynolds boids analogy method, and added switch rules to realize changes in multi-robot formations. Simulation experiments in different scenarios and complex environments verify the superiority of the proposed method. This algorithm can enable multi-robots to maintain their formation in uncertain environment to reach the target, which is of great significance for the application of multi-robots in rescue and disaster relief. [ABSTRACT FROM AUTHOR]