Abstract: According to the characteristics of path planning and trajectory tracking in the RoboCup middle-sized three-wheel omnidirectional soccer robot,an improved fuzzy-HSIC(human-simulated intelligent control)-based algorithm is pro-posed based on the HSIC algorithm.And it is applied to motion control of this system.Experimental studies prove that it has the characteristics of high control accuracy and good stability,and it can approach the expected path in real-time and fully meet the requirements of RoboCup soccer robot motion control.In addition,because the fuzzy control rules table can be determined by the logical control rules of the improved HSIC,so it is convenient to design fuzzy controller.