Because of the complexity of the outdoor terrain and the variety of the robot missions, the Outdoor Autonomous Intelligent Robot (OAIR) has to carry out missions in unstructured and impossibly predicted environment, which brings forward the higher challenge for the simulation environment. So the interactive simulation idea is introduced in this article. By means of classification, the outdoor simulation environments are divided into several sub-environments. The environmental entities modeled by a Scene Modeling Language (SML) can be edited interactively in accordance with requisition. And on the basis of the path- planning, the mission- planning method is introduced to simulate the complicated environment. The method not only simulates path-planning algorithms, but also verifies the validity and robustness of Intelligent Agents through editing or modifying the robot's geometric and kinetic parameters to accomplish the interactive simulation between the running environment and the mission-planning. At last, a visual Monitoring Tool is designed to evaluate the performance and the coordination of the Intelligent Agents.