对多障碍物环境下微机器人集群自主通信转接的控制问题进行了研究。结合微机器人尺寸小的特点，采用低功耗的红外通信方式，利用载波侦听多路访问技术实现了多移动微机器人间的红外通信。在红外通信的基础上，建立了基于弹簧阻尼系统的自主通信转接控制模型，设计了相应的控制器以实现微机器人的运动控制，进而实现微机器人集群的自主通信转接。仿真结果验证了该控制方法的有效性。

The control problem of autonomous communication relay of microrobot cluster in multiple obstacles enviroment was studied. According to the characteristic of small size of microrobot, the low-power infrared communication method was used to realize the infrared communicatin among microrobots by employing carrier sense multiple access. On the basis of the infrared communication, the communication relay control model was established , which is based on spring-damper system, and the corresponding movement controller was designed to realize the communication relay of microrobot cluster. The effectiveness of this control method was verified by simulation results.