Smart Trolley

Abstract

This paper presents an integrated smart trolley system developed to improve efficiency in modern retail environments. The system combines two key functions: an Autonomous Human-Following (AHF) module that allows the trolley to move hands-free by following the user, and an RFID-based Automated Billing (RAB) module that enables real-time product identification and billing. A dual-microcontroller architecture is used to independently manage mobility control and billing operations, ensuring reliable and smooth performance. The human-following feature uses ultrasonic sensors to maintain a safe distance from the customer, while the billing module automatically updates item details and total cost as products are added or removed. By reducing manual effort and checkout delays, the proposed system enhances shopping convenience and user experience. The effectiveness of the design is demonstrated through experiments conducted on a working laboratory prototype, with results showing improved responsiveness and reliable operation compared to conventional shopping methods.

Introduction

The Smart Shopping Trolley system addresses inefficiencies in traditional manual trolleys by integrating autonomous navigation and automated billing. The system uses a dual-controller architecture: one microcontroller manages an Autonomous Human-Following (AHF) unit with ultrasonic sensors for safe, real-time tracking of the customer, while the second handles a RFID-Based Automated Billing (RAB) unit for instant, contactless product scanning and transaction processing.

Key features include:

• Navigation: Triple ultrasonic sensors measure distance using time-of-flight calculations, enabling speed and direction adjustments within predefined safety, follow, and danger zones.

• Billing: RFID tags identify products instantly; capacitive touch sensors allow add, remove, and reset operations, with real-time updates displayed on a 16×2 LCD and audible feedback via a buzzer.

• Modular Design: Separation of motion control and billing processing reduces electromagnetic interference, ensuring smooth trolley movement and accurate, fast transactions.

• Technical Specifications: The system employs Arduino UNO (ATmega328P), L293D motor drivers, DC geared motors, HC-SR04 sensors, RC522 RFID module, I²C LCD, capacitive touch sensors, and a dual-voltage power supply.

Overall, the trolley provides a hands-free, efficient shopping experience with real-time billing and reduced physical effort, enhancing convenience and customer satisfaction in retail environments.

Conclusion

The Smart Shopping Trolley system successfully combines human-following navigation with an automated billing process to improve convenience and efficiency during shopping. By using ultrasonic sensors for tracking the customer and RFID technology for identifying products, the system enables the trolley to move automatically while calculating the bill in real time. This approach reduces physical effort for users and helps eliminate long checkout queues.The system is developed using affordable and easily available components such as the Arduino UNO, HC-SR04 ultrasonic sensors, RC522 RFID module, and DC motors. Testing results show that the trolley follows the user smoothly, maintains safe distances, and performs billing operations accurately. The LCD display, touch-based controls, and buzzer provide clear feedback, making the system easy to understand and operate.In the future, the system can be further enhanced by integrating an ESP32 microcontroller to support IoT-based cloud billing and real-time data synchronization. Adding a load cell for weight measurement can help verify scanned items and improve billing accuracy and security. With these improvements, the Smart Shopping Trolley has strong potential to be adapted for smart retail environments and real-world commercial applications.

References

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Copyright

Copyright © 2026 Muhammad Shamil P, Nadil AK, Shadhil Jinan P, Avinash P, Rasnas P, Nubla M, Mohammad Hamdan K, Shafeeqe Kuttassery. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.