Aiming at the low efficiency and poor stability of obstacle avoidance of multiple mobile robot formation , a distance-angle priority obstacle avoidance strategy was proposed. A reasonable formation database was founded based on the number of robots.Considering the limitations of the robot’〖KG-*2〗s safety distance and communication rang, formation and obstacle avoidance methods were selected.The leader-follower formation control method was adopted to establish the leader-follower kinematic model and perform kinematic analysis about relative position.Then the robots could complete the stable formation while safely and efficiently passing obstacles and recovering the formation quickly. The simulation results show that compared with the existing obstacle avoidance methods, the proposed control method can be used to improve the obstacle avoidance efficiency, formation stability and control accuracy.