Sala: An Autonomous Water Trash Skimmer Using Path Planning Algorithm

Abstract

This research aims to develop and evaluate the prototype Sala. This autonomous water trash skimmer utilizes a path planning algorithm for the effective collection of plastics, particularly microplastics - referred to as small plastic particles that are less than 5 mm. These can be found in various significant aquatic habitats, encompassing oceans, lakes, and rivers. The primary objective of this study is to lessen the accumulation of plastic trash in aquatic habitats. To address the issue, Sala is equipped with a dual filtration system that separates the microplastics from macro-plastics. Additionally, Sala has a mobile application that has been developed to monitor the robot's activities. The application shows the fullness of the microplastics compartment and the concentration levels of microplastics in the sample water with the help of an ultrasonic sensor. The rapid and dependable flow of data between the robot and the application is notably facilitated by ESP8266, ensuring seamless connection. Using Arduino Mega 2560, in conjunction with a path following algorithm, facilitates the effective gathering of microplastics.