In view of the problems of UAV formations when performing tasks，such as the collisions between UAVs and with obstacles,and formation communication,the UAV dynamics equation is regarded as a second-order integral model,and a collaborative obstacle avoidance control strategy combining artificial potential field method with consistency theory is proposed.First,a variable-gain function is established to reduce the overshoot and steady-state errors,and a consistent control method of UAV formation under a virtual leader structure is designed.Then the idea of segmentation is applied to increase the loop force and the anti-collision force between UAVs to improve the traditional artificial potential field method to solve the issues of local optimization and formation safety,so as to achieve formation collision avoidance and obstacle avoidance.Finally,the consistency control method and the improved artificial potential field method are combined to propose a collaborative formation obstacle avoidance control law,and the small gain theorem is used to analyze its convergence stability.The simulation results show that the UAV formation can achieve accurate obstacle avoidance and restore the expected formation to reach the target position.