The invention discloses a formation self-organization behavior-based swarm robot trajectory tracking method. The method comprises the following multiple steps of 1: sending path information to robot individuals from a controller; 2: arranging a specified hexagonal structure consisting of a plurality of the robot individuals at a specified path starting point, and initializing the path information; 3: controlling motion states of the robot individuals according to the path information received from the controller and transmission information, states and gradients of other robot individuals in the hexagonal structure so as to realize periodic control on motions and formations of swarm robots; and 4: when a destination is arrived, enabling a system to fall into a deadlock state, and enabling a program to stop running, so that the control is finished. The formation self-organization behavior-based swarm robot trajectory tracking method is oriented for micro-miniature swarm robots; the requirements on robot hardware are low; and only an infrared sensor, a processor with a relatively poor computing ability and a motor are required in the aspect of hardware.