In view of the shortcomings of the classical ball-pushing algorithm in the bottom layer of URWPGSim2D simulation platform, a 2D simulation project platform of international underwater robot competition, this paper analyzes and optimizes it. Combined with years of experience and analysis of the existing dribbling algorithm, this paper puts forward the “Beidou tangential ball-pushing” algorithm based on angle arbitration, which makes the simulation fish choose the best movement strategy according to the range of angle. Experimental results show that the algorithm can improve the efficiency and stability of robot fish with the ball.