Ubuntu :: How To Use Sudo In A Startup Script File

I am using a headless server with virtualbox installed on it. A second box is a LAMP server from which I have phpvirtualbox installed to give me a remote connection to the headless server. In order to get a connection made between the 2 boxes I need to start a program called vboxwebsrv, this being on the headless box. I therefore need to ssh into the server and startup the program. What I'd like to do is have this program launch on startup, and the folks at phpvirtualbox has a sample script available that will do that. Unfortunately the script uses a su command, not sudo. Since I am using Ubuntu, the su command doesn't work, but using sudo requires a password response. How do I deal with this?

Here's a snippet from the script:

# Function that starts the daemon/service
#
do_start()
{
if [ "$VBPID" != "" ] && [ "$VBPID" -gt 0 ]; then

[code]...

What I currently do is: sudo /usr/bin/vboxwebsrv -b --logfile /dev/null >/dev/null.(The script file sets up the path earlier on).What I don't want to do is have any interaction during startup, and frankly, I can't see how to avoid the password thing.