: With the vigorous development of information technology, electronic machinery, sensor control, artificial intelligence and other technologies, the development and application of robot has become a popular field of today's society. Based on this, all kinds of robot competitions have appeared. Over the past few years, our school has regularly participated in International Underwater Robot Competition. In order to find a more efficient algorithm, this paper seeks an effective strategy to improve

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... the global visual 2VS2 project based on the International Underwater Robot Competition. First to the field of regional division, the competition venues were analyzed based on the threat degree of different regions. On this basis, this paper achieved strategy improvement. Also, a n ew algorithm to head the ball has been written. Practice has proved that the algorithm can effectively improve the combat capability of defense and offensive efficiency goals.