Aiming at the problem of cooperative control of unmanned double drum vibratory roller fleet, this paper proposes an innovative cooperative control method of double drum roller fleet based on differential homogeneous embryo transformation. In order to meet the demands of road compaction operation conditions, an artificial potential field function is adopted, and a formation model with the characteristics of attracting long-distance and repelling short-distance is established. In order to cope with the external environmental restrictions during the formation compaction process, a formation tracking control method based on differential homogeneous embryo transformation theory is proposed on the basis of this model. Through the differential homogeneous embryo transformation, the constraints on the position of the double drum rollers are successfully realized, so that they can move together within the specified working range. The proposed control method is simulated and verified by Matlab simulation software, which realizes the formation cooperative control of the roller fleet under the starting working condition and compaction working condition. This research provides a new research idea for the field of unmanned construction of roller fleet.