针对多机吊挂飞行器在不同距离下规避障碍物的问题，提出了一种基于弹性带理论的避障算法以提高多机吊挂飞行器的避障能力。首先，设计吊挂飞行器的结构，分析单机吊挂飞行性能及四机组合构型的气动干扰；然后，利用弹性带算法进行实时路径规划，以实现吊挂飞行器在远距离飞行中的有效避障；最后，通过执行应急避障策略，有效规避近距离的障碍物。通过在不同距离下进行多机吊挂飞行器的避障仿真实验，验证了该避障算法的可行性和有效性。

Aiming at the problem of obstacle avoidance of multi-machine suspended vehicles at different distances, an obstacle avoidance algorithm based on elastic band theory was proposed to improve the obstacle avoidance ability of multi-machine suspended vehicles. Firstly, the structure of the suspended vehicle was designed to analyze the single-machine suspended flight performance and the aerodynamic interference of the four-machine combination configuration. Then, the elastic band algorithm was used to carry out the real-time path planning to realize the effective obstacle avoidance of the suspended vehicle in the long-distance flight. Finally, the emergency obstacle avoidance strategy was carried out to avoid the obstacles in the near distance effectively. The feasibility and effectiveness of the obstacle avoidance algorithm was verified by performing simulation experiments of obstacle avoidance of multi-machine suspended vehicles at different distances.