ATCH (Autonomous Trailer Coupler/Decoupler-Hitch)

Automating the coupling and decoupling process for trailers can reduce or eliminate many known safety issues. Additionally, only a single operator will be required, and the overall duration will be shorter. As the Autonomy Kit (A-Kit) provider for the Expedited Leader Follower (ExLF) and Autonomous Ground Resupply (AGR) programs, Robotic Research is in a unique position to implement an autonomous trailer solution. Robotic Research is a leader in planning and control of Unmanned Ground Vehicles (UGVs) and has demonstrated successful executions of complex maneuvers in both forwards and reverse. This proficiency, combined with extensive experience with the PLS vehicles and trailers, gives Robotic Research a significant advantage in creating a solution. A sensor suite must be added to the rear of the PLS, containing cameras, lidars, or a combination of the two. These sensors will allow for the tracking of the trailer while the A-Kit autonomously maneuvers the vehicle. Once the vehicle is aligned with the trailer, the drawbar must be lifted until the sensor suite identifies it is at the proper height. The vehicle then continues backing up autonomously, ensuring that the trailer is successfully coupled. The proposed system eliminates the need for personnel to be near the trailer while the vehicle is reversing, removing the risk of injury. Hitching the trailer will be simulated to demonstrate the A-Kit’s capability to maneuver the vehicle into position. Several sensor configurations will be evaluated during Phase I to identify the optimal balance between cost and reliability. These configurations will be incorporated into the simulation to verify the accuracy required for the maneuvers.  We call our technology ATCH (Autonomous Trailer Couple/decouple via Hitch).