Robot based indoor autonomous trash detection algorithm using ultrasonic sensors

Autrebot; indoor trash detection and collection system using autonomously directed robotic exploration algorithm is presented. The algorithm has linear time complexity and is developed using two ultrasonic sensors. The key feature of this algorithm is the acquisition of object location based on the sensor output. The two sensor interface is specially implemented for intelligent decision making and proper identification of the object of interest, ignoring stray mobile objects or walls. Pneumatic actuators are used for the pickup and disposal of trash once it has been successfully located. Experiments with the algorithm have been conducted in static as well as dynamic environments and its performance analyzed for multiple scenarios. The algorithm can be thus extended for locating a particular object of interest based on its physical attributes.