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This data package（.zip） includes data of follower robots'  motion track、errors  and velocities in five simulatd experimental cases：(1),(2): set obstacle range on 0.8m and 1.0m，2 groups；(3):  oneside situation,  and the number of follower robots rises to 5.   (4)：complex environment, which we place more obstacles.   （5): change the lead-follower formation  （6),(7)：two types of formation tracks, circle and straight line，compare follower1，2.

The system obtained interference information from the measurement signal, solved the problem of phase wrapping, and got the accurate coordinates of target. The tags and tag-free items including shrimp chips, cola and instant noodles were taken as target respectively in experiment.