Virtual Booth

AUTONOMOUS SHOPPING TROLLEY

Dani Rafie Bin Rosmadi¹, Nawal Aaliyah Shu Yi Binti Farid Zhafri², Humaira Binti Osman Safian³.

¹²³Maktab Rendah Sains MARA Tun Abdul Razak, Pekan, Pahang.

*Corresponding author:  diyana.fakharuzi@mara.gov.my

Abstract

Conventional retail shopping mainly relies on manual baskets, which can lead to physical strain and muscle fatigue, particularly for elderly shoppers and Persons with Disabilities (OKU) who experience mobility limitations. To address this, the project develops an Autonomous Shopping Trolley to assist users while carrying standard supermarket baskets without altering their original design. The system uses a streamlined sensor architecture comprising an Ai-Thinker RD03-D mmWave radar interfaced directly with an ESP32 microcontroller, BTS7960 H-bridge motor drivers, and dual JGY-370 12V DC worm gear motors. Using real-time distance and position-angle data, the ESP32 applies PWM-based closed-loop control for responsive forward movement and smooth differential steering, while an automatic fail-safe mechanism stops the motors if the user exits the radar scanning boundary. Field testing at BS Fresh Mart confirmed stable tracking, effective load-bearing, and smooth maneuvering within a recommended payload range of 12–15 kg. The prototype’s low fabrication cost (RM423.00) and projected commercial performance (ROI 41.84%) indicate strong feasibility, supporting SDG 3 and SDG 9. Future improvement should enhance obstacle avoidance and behavior in crowded environments, and the overall system effectively improves retail accessibility through assistive automation.

Keywords - Autonomous Shopping Trolley , Smart Mobile Base, Assistive Retail Automation