Autonomous mobile robot operations for in-trailer loading

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 carrying a first pallet on a fork, that a next pallet to be loaded onto 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 a previous pallet in an immediate prior row relative to the row where the trailer does not have sufficient space to fully accommodate the autonomous mobile robot in the trailer;
• determining a front plane for a previous row based on the pose of the previous pallet;
• navigating to first goal position at least partially inside the trailer, wherein the first goal position is determined based on the pose of the previous pallet and a pose of the trailer;
• side-shifting the fork toward a side wall of the trailer until one or more sensors of the autonomous mobile robot detect contact between the pallet and the side wall of the trailer;
• side-shifting the fork back away from the trailer wall by a predetermined distance to prevent the first pallet from scraping the side wall of the trailer during navigation or dropping;
• navigating in a straight line forward from the first goal position to a second goal position that is within a predetermined threshold distance of a drop position within the trailer, wherein the second goal position is determined based on the pose of the previous pallet and the pose of the trailer;
• and
• dropping the first pallet from the fork at the second goal position in the trailer.