In order to make the ball-pushing movement fast and coherent, and to improve the efficiency of goals, on the basis of analyzing the basic ball-pushing algorithms, a action-based algorithm was proposed, which designed five simple actions and used arbiter for action decision according to the geometry sites of robotic fish、ball and opponent’s gate. Validate the algorithm by a ball-pushing experiment on the robotic fish water polo game platform. Results show this ball-pushing algorithm can largely shorten one goal time.