The development of multiple autonomous underwater vehicles (AUVs) has revolutionized the traditional reliance on a single, costly AUV for conducting underwater surveys. This shift has garnered increasing interest among marine researchers. Communication between AUV fleets is an urgent concern due to the data rate limitation of underwater acoustic communication. Laser-based underwater wireless optical communication (UWOC) is a potential solution once the link-establishing requirement between AUVs can be met. Due to the limited coverage area of the laser beam, the previous pointing, acquisition, and tracking (PAT) method is to quickly adjust the beam direction and search for the target according to the set scanning path. In response to these challenges, we propose a scalable laser-based link establishment method that combines the maneuvering of the AUV, the acoustic positioning, and the control of the optical system. Our proposed approach has consistently outperformed the existing PAT method in simulated environments, effectively establishing laser links. Importantly, we have successfully implemented our approach in machine experiments, confirming its practical applicability.