For the problem that the wheel-axle center and the geometric center of the most nonholonmic mobile robot are noncoincidence, the formation coordination control algorithm is proposed in this paper. The shape of formation is determined by the parameter matrix and the virtual robot is generated according to the lead robot and related formation parameters, translating the formation control problem into the trajectory tracking problem between the follow robot and virtual robot. The error system model between two robots is built, and the control algorithm is designed by using the Lyapunov theory for the formation keeping and transforming. Three groups of experiment are designed by the microsoft robotics developer studio 4, and the simulation results show the effectiveness of the presented method.