In urban environments, a single unmanned device faces problems such as limited coverage, low work efficiency, and inability to cope with complex tasks. In order to improve the combat effectiveness and mission execution ability, we propose a system based on the cooperative planning and control of unmanned vehicle formations. The system constructs a mobile planning and control system suitable for complex environments by establishing an unmanned vehicle formation and applying advanced formation following, formation maneuvering and formation obstacle avoidance technologies. Existing methods fall short in terms of coverage, productivity, and ability to cope with complex tasks. Our system significantly expands coverage by working together in multi-vehicle formations, develops new formation-following algorithms to ensure stable formations, and introduces maneuvering and obstacle avoidance technologies to deal with complex environments. Through simulation and real vehicle verification, the experimental results show that the unmanned vehicle formation has excellent performance in stability, adaptability and operability, and the modular design and optimization algorithm improve the reliability and flexibility of mission execution, laying a solid foundation for the realization of large-scale unmanned swarm cooperative combat capability in the future.