In order to solve the problem of cluster control under three-dimensional and ideal all-communication conditions, this paper combines the local rule and the potential field method to produce a new gravitational repulsion function based on the characteristics of existing methods in cluster system control, and combines with the soft control method to achieve the individual aggregation and cluster flight control. Meanwhile, on the basis of limited visual perception, the obstacle avoidance strategy of the emergency avoidance strategy is proposed. Because only part of the individuals could receive the track information under the electromagnetic environment, the neighborhood identification method is used to select the target individual to follow, in order to achieve the desired cluster movement. The simulation results show that the proposed method has the advantages of strong flexibility, good consistency and effeciency in obstacle avoidance in controlling the cluster movement.