In systems of multiple autonomous underwater vehicles (AUVs), to achieve cooperative operation and cluster intelligence, information is often disseminated via broadcasting. However, due to the long propagation delay and slow transmission rate of underwater acoustic communication, traditional broadcast scheduling algorithms require a long broadcast period to avoid signal collision. To improve the channel utilization rate as much as possible and improve the update rate for broadcast information, we propose an optimal broadcast scheduling algorithm. This algorithm uses the location information of AUVs to adjust the broadcast sequence and broadcast schedule, to achieve the shortest possible collision-free broadcast period in the broadcast network for the current node distribution. Simulation experiments show that this algorithm can achieve a broadcast period much shorter than that of traditional TDMA and higher channel utilization without signal collision. In addition, the simulations prove the feasibility of applying the algorithm in an actual MAC protocol.