In the multi-joint fish underwater rescue project, on the basis of the simple-joint fish, a rescue strategy is put forward. By this strategy the multi-joint fish can accomplish the rescue mission within the shortest possible time. In the case of hitting the entire target, strategy can achieve relative high rescue efficiency, though the multi-joint fish failed to finish the task within the allotted time. In this strategy, the rescue route plan scheme on the basis of Dijkstra thought is designed. Use the combination method of the direct impact function and the fish head swinging function. The experiment results show that this strategy can call the multi-joint fish flexibly. It shortens the total time of rescue obviously, increases the stability and improves the rescue efficiency. The strategy has achieved good result in practical application.