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Aiming at the fixed target and dynamic target tracking problem of the multiple mobile robots is studied. Firstly,the rigid formation and kinematics model of the multiple mobile robots is established that is based on the l－φ closed loop control,the coordination of the multiple mobile robots is achieved under the leader - followers coordination strategy algorithm; And then the target is identified by using SURF algorithm,through the path planning and Kalman filter,the fixed target and dynamic target can be tracked. The controller is designed based on Backstepping,the target can be tracked stably by the multiple mobile robots. Finally,Matlab is used to simulate,the results shows that the tracking errors of the multiple mobile robots is converged to zero quickly under the designed controller and the algorithm,which can be used for the target tracking of the multiple mobile robots.