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.