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In this paper, a trajectory tracking control strategy by elliptic collision-Free approach is proposed for guiding and following mobile robots. Each robot is setup with a single eye camera to capture the image of a guiding robot or obstacle. The image between them is converted to a gray form, and then to the gradient for each pixel of Gaussian pyramid level to estimate the motion parameters, disturbances, or obstacles. Successive images for a moving object are used to estimate or recognize the foreground, guiding robot, and obstacles by calculating the gravity of the moving object, and then the following mobile robot will follow the trajectory of the guiding one. On the contrary, the following mobile robot turns out to serve as a guiding one when there is no gravity. Furthermore, the elliptic collision-free path will be used for obstacle gravity and keep going until the final destination is achieved. Finally, experimental results will be used to show the effectiveness of the proposed method.