Based on URWPGSim2D simulation platform and combined with 2V2 ball grabbing game requirements, a 2D simulation game strategy for underwater robots was proposed. According to the simulation strategy, the cut circle algorithm is adopted to calculate the distance and angle of the simulation fish, and the automatic speed regulation of the simulation fish is controlled. The speed priority strategy is proposed to optimize the automatic speed regulation of the simulation fish. The prediction model is established according to the idea of the decision tree algorithm model, and verified by the simulation experiment. The experimental results show that this strategy can realize automatic shifting, and has the characteristics of fast speed, high stability and strong offensiveness.