As the living standard raises, humans start to pay attention to the quality of their life, especially for indoor environmental quality (IEQ). In order to improve the indoor environment, it is a good choice to use the machines like humidifier, air purifier, or air conditioner. However, most of these machines can only improve one specific space, and can only measure the environmental condition closed to them. In this paper, we present an autonomous robotic control system for indoor environmental quality. The system consists of two parts, the sensors separated in the indoor space and the autonomous robots that have the function to improve the environment. Through the sensors, the system evaluates the environmental condition of different space, decides which space needs to be improved first, and finds the best position for the robots to execute regulating environmental condition. For the robots, the system plans a route and navigates them to the target location with obstacle avoidance. The ROBOTICS library for Matlab is used to communicate with the robots through rosserial. Simulation and experiment show the feasible of the system.