In order to make the robot fishes cooperate better between each other to complete the task with high efficiency, and avoid planning only a single robot fish’s optimal path in the system leaving the movement of system beneath coordination, this paper presents a path planning method for multiple robot fish based on cooperative game model. Using cooperative game in game theory to establish a mathematical model, the robot fish in the system corresponds to the participants of the game, benefit function of the game player on the cooperative model of multiple robot fish path construction, get system Pareto optimal solution, then get the optimal path of the entire system. Using the above method’s instance, simulate and analyze on the robot fish in water 2D simulation platform, and use MATLAB to simulate robot fish’s track, results indicate: application of the path planning theory in the multiple robot fish movement system is effective and feasible.