@mjanardhanan - Welcome to the Forum. Ph.D. programs generally have a minimum GPA of 3.00/4.00 so you are unlikely to get into a Ph.D. program if you finish your undergraduate program with a GPA under 3.00. The option you have is to find a university where you can take some graduate courses on a part-time probationary basis to demonstrate that you can do the work at the graduate level. Then you may have to see if you can complete an MS (self-funded, of course) with a good enough GPA and enough research experience to make you a viable candidate for a Ph.D.
Your best option might be to work for a while then start the process of taking some graduate courses. Getting some work experience can help in some cases.