In urban centres, waste generation is higher than collection, resulting in the coincidence of materials and unsafe conditions for workers related to manual schedules. This study demonstrates the integration of two IoT-based systems: Smart Garbage Bins that are monitored for fill levels and communicate with collection vehicles when approximately full, and an Autonomous Waste Collection Vehicle that uses Ant Colony Optimization (ACO) to solve the Vehicle Routing Problem, with the conversion of the waste collection vehicle models a version of the Travelling Salesman Problem. Testing on a physical prototype reveals approximately 90% accuracy of triggering the collection when the bin fill level reaches 80% fill. The combination of systems provides waste tracking, dynamic routing based on previous obstacles and optimized navigation capabilities for clustered city environments.