A Web-Based Teleoperation System for AMR Navigation Control

Abstract

This paper presents a web-based teleoperation system that allows an Autonomous Mobile Robot (AMR) to be 
controlled and supervised remotely through a browser. Autonomous robots handle navigation and perception on their 
own, but there remain situations in which a human operator needs to intervene, and traditional teleoperation systems 
require specialized hardware and software that limit where and by whom they can be used. Using standard web 
technologies removes that constraint: an operator with a computer, tablet or phone and an internet connection can 
control the robot from anywhere. The system is built on the Robot Operating System (ROS), which supplies hardware 
abstraction, inter-component communication, sensor data processing and motion control. A persistent connection 
between the browser and the robot, established through WebSockets, carries commands one way and telemetry the 
other with low enough latency for responsive control. The web interface provides directional controls, a live video 
feed from the onboard camera, status indicators for battery level and detected obstacles, and a map view. On the 
robot, sensor fusion combines LiDAR, camera and IMU data, and path planning algorithms including A* and RRT 
generate collision-free routes that PID controllers then execute. The robot is built on a Raspberry Pi with an L298N 
motor driver, BO motors, a LiDAR sensor and a Li-ion battery.