Aiming at the problem of fast and consensus obstacle avoidance of multiple unmanned aerial systems in undirected network, a multi-quadrotor unmanned aerial vehicles UAVs (QUAVs) finite-time consensus obstacle avoidance algorithm is proposed. In this paper, multi-QUAVs establish communication through the leader-following method, and the formation is led by the leader to fly to the target position automatically and avoid obstacles autonomously through the improved artificial potential field method. The finite-time consensus protocol controls multi-QUAVs to form a desired formation quickly, considering the existence of communication and input delay, and rigorously proves the convergence of the proposed protocol. A trajectory segmentation strategy is added to the improved artificial potential field method to reduce trajectory loss and improve the task execution efficiency. The simulation results show that multi-QUAVs can be assembled to form the desired formation quickly, and the QUAV formation can avoid obstacles and maintain the formation unchanged while avoiding obstacles.
