Multi-AUV cluster control technology means that multiple AUV systems cooperate with each other to complete specific task. This technology solves the problems of system cooperative formation，cooperative navigation，task allocation，communication mechanism，collaborative positioning，collision avoidance and obstacle avoidance. This technology lays emphasis on redundancy and timeliness of the system，and the system is robust to individual failure. This paper systematically describes the development status of multi-AUV cluster control technology. The key technical problems of multi-AUV cluster control are discussed，and the advantages and disadvantages of various advanced cluster control algorithms are compared. In conclusion，the development direction of the intelligent cluster control technology is prospected based on the theoretical research and the current situation of multi-AUV cluster control technology.
