In order to improve the successful rate of robotic fish shooting, put forward a new method of offensive strategy based on the virtual tangential circle. Through the tangential circle to adjust the direction of the fish, solve the motor’s jitter and instability problems while changing the direction, make the robot fish adjust the position and orientation quickly and accurately, reach the specified angle and location of attack. At the same time, used fuzzy control to control the direction of the robotic fish accurately, better participated in attack, for achieving fast and accurate shooting result. Experiments confirmed the effectiveness and feasibility of this method.