One of the major issues in urban areas is waste disposal. The country's per capita waste generation is so high, that lack of timely waste collection results in a huge pile of garbage in the city, leading to an unhygienic environment. In this paper, we introduce an automated system called SWaCH (Smart Waste Collecting Hopper) that helps to collect waste without human intervention. SWaCH has a web portal hosted on a server using which the user can specify the time of waste collection. Primarily, it has two modes of operation: a manual mode and an automatic mode. In the manual mode, the user must be present at the point of arrival of the system, in order to dispose the waste. However, in the automatic mode, user presence is not necessary. A dispenser module is installed outside the house, into which the waste is disposed. The collector module on the system communicates with the dispenser module to automatically collect the waste. The system peripherals are implemented using Arduino that senses the environment and provides necessary actuation. SWaCH wirelessly communicates with the server to obtain the navigation information, using Raspberry Pi, thereby porting the entire application on IoT. It is also equipped with the capability of detecting and avoiding obstacles that barricade its path.