Autonomous mobile robots capitalize on their ability to intelligently, efficiently and reliably interact with their environment. This makes them suitable for various applications that arehazardous or unpleasant for human beings. Their task may range from as simple as following aline, to as complex as enduring the extreme environment of a distant planet, and thereby collect useful data for humans. This report deals with an autonomous mobile robot guided by a vision system for sorting objects based on their color. The system have autonomous mode,assitive mode and manual mode. In the autonomous mode the robot and the vision system will work in unision to identify various objects (balls) and escort them to their respective homepositions based on their color. In the assistive mode, the vision system assistis the user with afeedback and helps in capturing the ball and placing it at its home location. In the manualmode the vision system provides a video of the robot workspace and the user can navigate therobot to its home location. In all the above mentioned modes, the robot communicates with thecomputer using bluetooth.