Cluster underwater robot path planning method, underwater robot, system and medium

The embodiment of the invention discloses a cluster underwater robot path planning method, underwater robots, a control system and a storage medium. The method comprises the following steps that: each underwater robot generates a target planning path according to respective preset target point and sensed obstacle information; first track information which is sent by other underwater robots and contains path points passing by in a future preset duration is obtained, whether the target planning path needs to be updated or not is judged according to the first track information, and if yes, the target planning path is updated according to the first track information; and finally, broadcasting second track information generated by path points passed by the underwater robot in a future preset duration to other underwater robots. By adopting the method disclosed by the invention, collision can be avoided when a plurality of underwater robots are clustered at a short distance, and the clustering safety of the plurali