Autonomous mobile robot operations for in-trailer unloading

An autonomous mobile robot comprising:

• a fork configured to carry a pallet stacked with a load;
• one or more sensors;
• one or more processors;
• and
• a non-transitory computer-readable medium storing instructions that, when executed by the processor, cause the processor to perform steps comprising:
• determining, by an autonomous mobile robot configured to carry a pallet on a fork, a pose of a trailer that is loaded with a plurality of pallets;
• determining a pose of each observable pallet within the trailer by one or more sensors integrated with the autonomous mobile robot;
• determining a target pallet for the autonomous mobile robot to pick up based on the pose of each observable pallet within the trailer;
• determining a front plane of pallets in a same row of the target pallet, wherein the front plane is a plane of a pallet in the same row that is closest to an entrance of the trailer;
• navigating to a first goal position within the trailer, wherein the first goal position is determined based on the pose of the target pallet and the pose of the trailer;
• side-shifting the fork to align the fork with pockets of the target pallet;
• inserting the fork into the pockets of the target pallet and lifting up the pallet;
• navigating in a straight line backward from the first goal position to a second goal position in the trailer, wherein the second goal position is determined based on the front plane of pallets in the same row of the target pallet and the pose of the trailer;
• side-shifting the fork towards center;
• and
• navigating from the second goal position in the trailer to a drop off position in a staging area.