Considering the drawbacks of artificial potential field and the flow field methods, this paper presents a new method for robotic fish path planning in ball-pushing based on the geometry path planning method and the fuzzy logic. In our scheme, geometrical method is first used to plan the way of robotic fish. Then, fuzzy rule is employed to decide the direction of robotic fish by which drive the robotic fish moving along the desired trajectory. The proposed method has been verified on the robotic fish platform. The result shows that this method is effective and can make the robotic fish having the best pose to push the ball.