An intelligent control system of layered structure for telerobots is established and described in detail. It is a semi-autonomous teleoperation platform which allows control to be shared between the intelligent decision system in the virtual environment and operators throughout a mission. The intelligent decision system will plan and control locomotion of the mobile robot according to the mission request. Because modeling error of the virtual environment and slide phenomena of wheels exist inevitably, the mobile robot can not reach the desired destination precisely by autonomous mode. Operators must directly adjust pose of the robot with remote video abidance to eliminate these errors. Telecommands and videos are transmitted via WLAN (Wireless LAN) with high gain antenna which brings broad bandwidth and far communication distance. Experiments prove that the intelligent decision platform is reliable and efficient. With intervention of operators away from five kilometres, the mobile robot can reach the desired destination successfully and accomplish the planned task smoothly.