Based on the 2D simulation game project of the international underwater robot competition, the arc cutting algorithm is proposed to solve the path planning problem of the simulation robot fish, and the trajectory of the simulation robot fish is designed, and the angular velocity gear is divided to ensure the stability of the simulation robot fish ball. Based on the distance angle value, puts forward the algorithm of dead angle avoidance and pisces cooperative force heading, which aims to realize the simulation robot fish to score quickly and efficiently, so as to improve the robustness of the strategy. The strategy is verified by URWPGSim2D simulation platform. The experimental results show that the strategy can achieve a large score lead in a short period of time, and has the significant characteristics of high efficiency and stability.