question about wp_enqueue_script

Is there a way to specify which scripts should load on which page using the enqueue script function? I noticed that conditional tags like is_home() or is_page() doesn’t get called when calling on the action hook ‘init’. I’m trying to avoid called the script manually, ex echo "<script scr='myscript.js'></script>"; Since it has a chance of breaking some plugins. Is it possible to use something like query vars to determine which page I’m on in order to use wp_enqueue_script()?

PS: I have $infooter = true on the wp_enqueue_script() arguments.

Thanks