This　paper　addresses　the　obstacle　avoidance　problem　of　multiple　mobile　robots.　We　propose　a　method　to　address　this　problem,　using　a　distributed　robotic　cooperative　obstacle　avoidance　method　with　independent　virtual　center　points　which　are　set　based　on　the　current　state　of　nearby　robots　and　itself.　Mobile　robots　use　two　different　control　modes:　an　obstacle-free　mode,　and　an　obstacle-avoidance　mode.　The　control　mode　is　switched　on-line,　based　on　the　robot’s　states　which　are　shared　information.　Moreover,　there　is　no　limit　to　the　number　of　mobile　robots　in　the　system　of　the　proposed　method.　A　control　law　is　designed　to　guide　the　mobile　robots　to　away　from　potential　collisions　and　avoid　congestion　with　other　robots.　The　stability　of　the　system　is　proved　using　a　Lyapunov　function.　The　effectiveness　of　the　proposed　method　is　evaluated　using　simulation　studies　and　also　real-world　experimental　verification.　Experimental　results　show　that　the　proposed　method　enables　mobile　robots　to　not　only　avoid　collision　with　each　other,　but　also　significantly　reduces　the　travel　time　and　travel　distance　for　situations　with　irregular　distributions　of　multiple　robots.　©　2019,　Springer　Nature　B.V.