Abstract: This paper mainly focuses on cooperative dynamic following problem of multi-robot system in unknown environments. A multi-mode control approach based on local sensing is proposed, which includes five modes: arrival, rotating-angle, following, avoiding-obstacle and random-search modes. In the following mode, fuzzy distance adjustment and angle adjustment strategies are adopted to control the robot to follow its leader and keep a predefined distance from it. An obstacle avoidance strategy based on tangent restriction is given to prevent the robot from possible collisions. The proposed approach may reduce the dependence on communication with good expansibility and the experiment results verify its effectiveness.