In this paper, a neural-dynamic optimization-based nonlinear model predictive control (NMPC) is developed for the multiple nonholonomic mobile robots formation. First, a model-based monocular vision method is developed to obtain the location information of the leader. Then, a separation-bearingorientation scheme (SBOS) control strategy is proposed. During the formation motion, the leader robot is controlled to track the desired trajectory and the desired leader-follower relationship can be maintained through the SBOS method. Finally, the model predictive control (MPC) is utilized to maintain the desired leader-follower relationship. To solve the MPC generated constrained quadratic programming problem, the neural-dynamic optimization approach is used to search for the global optimal solution. Compared to other existing formation control approaches, the proposed solution is that the NMPC scheme exploit prime-dual neural network for online optimization. Finally, by using several actual mobile robots, the effectiveness of the proposed approach has been verified through the experimental studies.