There's a simple way and a more complex way, depending on how much you want to manage the AI.
Option 1 - Use triggers to order specific AI buildings to train specific units (like Grunts from the Barracks), then use triggers to detect those troops being trained and order them to attack-move to your base. You can set these up as a loop so they keep firing, as long as the AI doesn't run out of gold.
Option 2 - Use the AI Editor inside the map editor (the icon with the picture of a green face on it, to the right of the Campaign Editor). There you can set up everything for the AI, from the order it builds its units to the size and makeup of its attack waves.