*Article* **Parking Pose Generation for Autonomous Freight Collection by Pallet Handling Car-like Robot**

**Khayyam Masood 1,2,\*,†, David Pérez Morales 2, Vincent Fremont 2, Matteo Zoppi <sup>1</sup> and Rezia Molfino <sup>1</sup>**


**Abstract:** This paper focuses on autonomous navigation for an electric freight vehicle designed to collect freight autonomously using pallet handling robots installed in the vehicle. Apart from autonomous vehicle navigation, the primary hurdle for vehicle autonomy is the autonomous collection of freight irrespective of freight orientation/location. This research focuses on generating parking pose for the vehicle irrespective of the orientation of freight for its autonomous collection. Freight orientation is calculated by capturing the freight through onboard sensors. Afterward, this information creates a parking pose using mathematical equations and knowledge of the vehicle and freight collection limitations. Separate parking spots are generated for separate loading bays of the vehicle depending on the availability of the loading bay. Finally, results are captured and verified for different orientations of freight to conclude the research.

**Keywords:** parking generation; freight handling; autonomous vehicles; driver-less parking
