With the continuous improvement of artificial intelligence technology, intelligent vehicle technology has also been greatly developed. When performing some complex and difficult tasks, multi-intelligent vehicles have higher robustness and higher efficiency than single intelligent vehicles. Therefore, the research of multi-vehicle cooperative control has been widely concerned by scholars. In this paper, dynamic weight optimization is proposed based on A* algorithm to shorten the path planning time, and DWA dynamic window method is combined to complete the final multi-robot path planning algorithm. Then, the multi-robot cooperative control system is designed and optimized. Through the simulation analysis of the above algorithm and its improved algorithm in MATLAB, the feasibility of the improved algorithm is verified. Finally, ROS is used as experimental software platform and Turbot3-Multi experimental car is used as hardware platform to carry out simulation experiments and real vehicle experiments of formation formation, maintenance and navigation path planning, and verify the effectiveness and practicability of the formation and path planning algorithm.