The main aim of this work is to use a robot in a typical cafeteria environment to deliver food from the main counter to the customer’s table, thereby acting as a mobile robot waiter. This study is essential in order to promote efficiency in serving food to customers. The robot uses an Arduino microcontroller to run a program with a combination of RFID technology, a line following module and an obstacle detecting system. The Radio Frequency Identification (RFID) reader is fixed on the robot itself, and reads the RFID passive tag which is placed under the serving tray. The RFID application allows the robot to identify the right table that is to be served and the robot moves to the respective table based on the tag. The uniqueness in the design of this serving robot is the application of the obstacle detection and collision avoidance, together with the integration of RFID technology. The findings from this research provide evidence that the robot is able to move according to the described path.