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The dynamic spectrum nature of cognitive radio challenges the connectivity and the stability of cognitive radio ad hoc networks (CRAHNs). Clustering is considered as an appropriate technique to overcome these issues. Various algorithms for clustering formation in CRAHN have been proposed, in which different system models and metrics are considered. This paper introduces an extensive survey of the most important published algorithms. This survey classifies the proposed algorithms based on their objectives. Moreover, it presents a detailed description of their techniques, evaluations of their performance, and discussion of the features and shortcomings of each algorithm. Furthermore, it provides and discusses the open issues for future research. [ABSTRACT FROM AUTHOR]