Abstract: For the mobile robot phototaxis control problem,the control method was proposed based on intrinsic motivation mechanism.According to sensorimotor system learning mechanism the robot achieved the optimal control method through the strengthening links of evaluation,behavioral choices,tropism and decision-making.The robot obtained the independent learning skills in unknown environment and gradually mastered the skills phototaxis through learning and training.The convergence of the algorithm was proved by Markov theorem.Simulation results show the effectiveness of the method.Comparison with the artificial potential method proves the accuracy of this method.