Maintaining the excellent state of the road is critical to secure driving and is an obligation of both transportation and regulatory maintenance authorities. For a safe driving environment, it is essential to inspect road surfaces for defects or degradation frequently. This process is found to be labor-intensive and necessitates primary expertise. Therefore, it is challenging to examine road cracks visually; thus, we must effectively employ computer visualization and robotics tools to support this mission. This research provides our initial idea of simulating an Autonomous Robot System (ARS) to perform pavement assessments. The ARS for crack inspection is a camera-equipped mobile robot (i.e., an Android phone) to collect images on the road. The proposed system is simulated using an mBot robot armed with an Android phone that gathers video streams to be processed on a server that has a pre-training Convolutional Neural Networks (CNN) that can recognize crack existence. The proposed CNN model attained 99.0% accuracy in the training case and 97.5% in the testing case. The results of this research are suitable for application with a commercial mobile robot as an autonomous platform for pavement inspections.