For solving “fish blocking in ball goal” problem in grabbing ball competition, put forwards “seven points” and “five points” obstacle escape methods. According to pool size and goal location to divide different areas, adopt key pint, design 2 different escape schemes based on robot fish and score ball dynamic position, then compare execution strategy efficiency under special situation and common situation. The result shows that, the strategy is feasible as well as convenient and efficient and in China’s Robot Competition in 2015, which grabbing more time for team to challenge for the ball.