A method using autonomous surface vehicle (ASV) is presented in order to track autonomous surface vehicle (AUV). This method uses tracking control based on chasing activity. The heading and speed of ASV is automatically adjusted according to position and speed of underwater robot. And the safe domain of ASV which is not allowed to get out of is built to avoid danger. Sample points are updated dynamically to predict possible position of AUV for stable tracking, in the condition of broken communication which introduces the unknown position. The lake experiment shows that the ASV can autonomously track AUV which trajectory is unknown with stability and continuity by the proposed algorithm in the environment with complex acoustic communication and the results is satisfactory.