Start / Setup

Initialize components: • IR sensor • Ultrasonic sensor • Fire sensor • Motor driver • LCD display

↻ Repeat

Read IR sensor values Read fire sensor Measure distance using ultrasonic sensor

Obstacle detected? (Distance < 15 cm)

Stop / Avoid obstacle

Fire detected?

Stop & trigger buzzer/alert msg

Line detected?

Follow line

Move forward

Send navigation & sensor data to NodeMCU via Serial communication

NodeMCU updates data to cloud and LCD display

↺ Repeat continuously