Real-time decision-making and exact motion control are the most important capability in soccer robot . A movement control mode based on intelligence algorithm is present for optimizing traditional robot’s movement controlling capacity, the PSO is utilized in soccer robot’s orienteering movement control. Simulation results show, under the presupposition of high control accuracy, the rate of real-time decision-making and movement control is greatly advanced compare to the traditional movement control mode. The research results reveal that this new kind of movement control algorithm can make soccer robots faster, accordingly the confront ability is improved.