The traditional leader-based formation control method of multi-AUV system is susceptible to environmental disturbances and easy to collapse.To solve the problems,an improved virtual leader method based on artificial potential field is proposed.A four-layer framework of the formation system is designed, and the layers of formation design and behavior control are described.Appropriate artificial potential field functions are designed for the following three scenarios, that is, the repulsion and attraction exerted by the virtual leader on AUV members, the repulsion and attraction between AUV members, and the repulsive force exerted by obstacles on the AUV, and the constraints brought by the maximum communication distance are taken into consideration.Through simulation verification, the formation trajectory and position deviation curves of the traditional leader-follower method and the improved virtual leader method are compared and analyzed.It is proved that the designed algorithm can complete the formation control task, and the formation control effect is better than that of the traditional leader-based method.