Arduino-based human-follower pushcart with vision sensor and ultrasonic sensor implementation

Date of Publication


Document Type

Bachelor's Thesis

Degree Name

Bachelor of Science in Computer Engineering


Gokongwei College of Engineering


Electronics And Communications Engg


Awarded as best thesis, 2013


Technology has its way of evolving drastically from one generation to the next generation. Nowadays, people have been craving for better and faster technologies that will suit their daily needs and give them the most benefit. On several occasions, people want tasks to be done with minimal or no effort at all such as shopping for groceries. This study aims to customize a grocery push cart that will follow a person based on the color of his shirt. The study also includes creating a website that is run through a tablet that monitors the budget and items that the person has entered in the system.

The customized push cart is designed to follow a person. The system is designed in which it used a camera (CMUCam4) to track a person and an ultrasonic sensor 9HC-SRO4) to follow a person. These sensors send their signals and are connected to an Arduino Mega board. The data received are then processes using a PID (Proportional “ Integral " Derivative) controller. The Arduino board then sends the necessary output signals to the DC and servo motors to allow the pushcart properly position itself to its current target, in this case, the color of the shirt that the person is currently wearing. The system is powered by two SLA (Sealed Lead Acid) batteries and a Li-Po(Lithium Ion Polymer) battery. The group used the Arduino compiler for the study. On the other hand, a tablet with a barcode scanner connected to it is used to scan the grocery items and is designed to notify the person if the scanned items are over the budget that is entered. The website system used MySQL for its database and PHP as the main scripting language.

Abstract Format






Accession Number


Shelf Location

Archives, The Learning Commons, 12F Henry Sy Sr. Hall

Physical Description

121, 2 unnumbered leaves ; 28 cm.

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