Automated Cleaning Mechanism for Polluted Trashes Released in Marine Environment

In this paper, we design an automated vehicle to clean the sea by building a 3D model of it in SOLIDWORKS, checking its hydrostatic characteristics in MAXSURF, and robot’s path planning and obstacle avoidance using potential field method and road mapping approach in MATLAB. Finally robot’s operator which needs to collect the marine waste is designed and simulated in MATLAB. In this respect, forward and inverse kinematics of the robot are solved and a model of robot’s arm is constructed in Simulink MATLAB. Furthermore, we design a trajectory for robot arm’s joints using LSPB method and use them for PID controller design of joints. We implement the trajectory planned in the robot’s arm model and use it to simulate the controller for each joint in Simulink MATLAB. Besides that, a mechanism to provide a suitable environment for the robot to work in is introduced. In this mechanism, a net will be used to trap the waste and prevent it passing through the river.