Autonomous mobile robot operations for last rows 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 pallet to be unloaded from a trailer is a first pallet in a row where the trailer does not have sufficient space to fully accommodate the autonomous mobile robot;
• determining a pose of each observable pallet within the trailer by one or more sensors integrated with the autonomous mobile robot;
• determining a front plane of pallets in a same row of the first 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 at least partially in the trailer, wherein the first goal position is determined based on the pose of the first pallet and the pose of the trailer;
• picking up the first pallet by the fork at the first goal position;
• side-shifting the fork toward a second pallet adjacent to the first pallet in the same row until one or more sensors of the autonomous mobile robot detect a contact between a lateral side of the first pallet and a lateral side of the second pallet;
• side-shifting the fork back away from the second pallet by a predetermined distance to maximize clearance between the first pallet and a side wall of the trailer;
• navigating in a straight line backward from the first goal position to a second goal position on a ramp between the trailer and a staging area, wherein the second goal position is determined based on the front plane of pallets in the same row of the first pallet and the pose of the trailer;
• and
• navigating from the second goal position on the ramp to a drop off position in the staging area.