Hacettepe University · 2025–2026

Autonomous
Smart Waste
Collection Robot

An intelligent campus waste management system that detects full bins, plans optimal routes, and navigates autonomously — reducing unnecessary trips while keeping environments clean and sustainable.

2D
LiDAR Mapping
A*
Path Algorithm
MQTT
Real-Time Comm

System Components

🗑️
Full Bin Detection
Ultrasonic + load cell sensor fusion with threshold-based algorithm
→
📡
Localization
SLAM Toolbox + AMCL for real-time 2D map building and pose estimation
→
🤖
Autonomous Movement
ROS move_base with global/local planners and dynamic obstacle avoidance
→
🗺️
Optimal Shortest Path
Node-based route optimization with A* cost matrix and dynamic re-routing
→
📊
Web Dashboard
MQTT-powered real-time monitoring for bin status and sensor data
→
🎬
Media & Demos
Project demonstrations, test videos, and GitHub repository
→

Conclusion

A Smarter,
Cleaner
Environment

The autonomous waste collection system was developed to significantly reduce time and energy consumption in large-scale environments. By combining intelligent bin monitoring with adaptive path planning, the robot only travels when and where needed.

The system is designed for seamless deployment across a wide range of facilities:

University campuses
Corporate facilities and office parks
International airports and transit hubs
Shopping malls and retail centers
Hospitals and healthcare campuses

The Team

⭐
Prof. Dr. Mehmet Önder Efe
Project Supervisor
CA
Cansu Aslan
Computer Engineering
GŞ
Gökdeniz Şimşek
Computer Engineering
MK
Mert Can Köseoğlu
Computer Engineering
ZK
Zeynep Nisa Karataş
Computer Engineering