Remote supervisory control of a sensor based mobile robot via Internet

A remote supervisory control architecture which combines computer network and an autonomous mobile robot is constructed. The main feature of this architecture is that users just need a general purpose computer and a World Wide Web browser, they can command the mobile robot in a remote location through Internet and Home Page. Hardware configuration of this architecture includes a mobile robot, as server workstation, and other computers, each of them is able to communicate with others via computer network. Software design includes assignment of the server, communication between the server and robot, and the user interface. The architecture has extensive capabilities for teleoperation, telerobotics operations, and other multimedia services. Based on this architecture we have implemented multilevel operations for the user on various remote applications. At present, the system allows users to operate our mobile robot via the Internet and a friendly user interface (via our Home Page) using supervisory and direct control modules and they can receive live images captured by a CCD camera which is mounted on the robot and other data from sensor measurement