Multi-robot　systems　(MRS)　are　widely　used　in　military,　industrial,　and　agricultural　applications　since　they　are　capable　of　accomplishing　tasks　that　individual　robots　cannot　handle　through　collaborative　cooperation.　However,　MRS　often　face　challenges　when　considering　formation　characterization　and　obstacle　avoidance　simultaneously　in　real-world　scenarios.　In　such　context,　a　distributed　cooperative　formation　and　obstacle　avoidance　controller　is　proposed　for　wheeled　mobile　robots　based　on　potential　field　method.　In　this　paper,　by　using　the　leader-follower　model,　a　consistency-based　cooperative　formation　controller　is　designed,　where　the　leader　robot　focuses　on　reaching　the　desired　target　point　while　the　followers　are　responsible　for　maintaining　the　formation.　Then,　an　obstacle　avoidance　controller　based　on　potential　field　method　is　designed　to　avoid　static　and　dynamic　obstacles　while　preventing　the　formation　from　passing　across　the　obstacles.　Finally,　the　effectiveness　and　feasibility　of　the　proposed　cooperative　method　is　verified　through　simulation　tests　and　real　experiments.　©　2024　IEEE.