This paper presents a method for cooperative pursuit of a single target by a formations of UGVs. The pursuit is conducted using a leader-follower formation approach, where encirclement points are determined based on the target’s position. After setting the initial encirclement points and the initial positions of the following UGVs, positions within the formation are assigned to the followers, thereby improving the consistency of pursuit times among all UGVs. Following the allocation of positions within the formation, to address the issue of real-time planning required for the leader to pursue the target, an improved Rapidly-exploring Random Tree (RRT) algorithm is utilized for path planning. Additionally, to address the potential obstacles encountered by the formation members during advancement and the risk of collisions with other UGVs, an artificial potential field method (APF) is utilized for obstacle avoidance and collision prevention. Simulation experiments demonstrate that the proposed pursuit method enables successful encirclement by multiple UGVs under obstacle avoidance conditions.