The ball-pushing algorithm based on coordinate transformation is proposed to accelerate speed, smooth the ball-pushing movement, and improve the efficiency of goals. The algorithm designs several simple actions on the basis of analyzing the basic ball-pushing algorithms and uses arbiter for action decision according to the geometry sites of robot fish, the ball and opponent’s gate. The algorithm is validated by a ball-pushing experiment on the multiple robot collaboration in water control platform. Results show that this ball-pushing algorithm is effective and can improve the efficiency of goals and shorten the goal time.