"I want Yarbo to operate with a trailer as a fully autonomous, trailer-aware system with advanced spatial intelligence.
I define a working zone directly on the map, either quickly using finger drawing for approximate areas or with precision control via remote driving for exact boundaries. This zone is dedicated specifically to trailer operations and is separate from mowing, snow, or other functions.
The robot then plans its work based on the selected task (watering, seeding, salt spreading, fertilizing, etc.), but with full awareness that a trailer is attached. It uses a complete geometric model of the trailer, including hitch-to-axle distance, trailer width, total length, and rear swing behavior during turns. This allows it to simulate trailer movement in real time while planning paths, preventing jackknifing and avoiding collisions.
A dynamic safety radius is automatically generated around the trailer, ensuring it does not re-enter restricted or already-treated areas unless explicitly required. This is especially important for tasks like water distribution, seeding, or salt spreading, where overlap control is critical.
The system also introduces trailer-specific zones and exclusion areas, allowing precise control over where the trailer can and cannot operate, independently from the main robot zones.
During operation, the system continuously monitors the trailer using cameras and sensors. It verifies that the correct trailer is attached, checks hitch alignment, and calculates real-time distances between the robotâs rear axle and the trailer to maintain safe limits and prevent contact with the main module or nearby obstacles.
It also performs predictive trajectory simulation of both robot and trailer together, ensuring that tight turns, reversals, and narrow passages are safe before execution.
If an event requires a different configuration (for example switching from a water tank to a seeding or spreading trailer), the system triggers an alert indicating that a change of trailer is required before continuing the next scheduled task. Multiple events can be chained into a single automated workflow.
Finally, if the battery becomes low, Yarbo automatically returns to its charging station, recharges, and resumes the exact mission from where it stopped, while preserving full awareness of trailer geometry, safety zones, and previously covered areas."
( DETAIL )
. Trailer-Specific Restricted Zones (Core Feature)
Add the ability to define âtrailer-aware zonesâ on the map, separate from mower or snow modes.
Zone creation methods:
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Draw directly on the map with finger (quick approximate zone)
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Precise mapping using remote control driving
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Optional âscan & learnâ mode for automatic boundary detection
Purpose:
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Prevent trailer from re-entering sensitive areas
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Avoid over-application (water, seeds, salt, fertilizer)
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Optimize coverage without overlap
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Ensure consistent distribution patterns
Example:
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Watering zones
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Seeding zones
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Winter salt spread zones
2. Trailer Radius / Exclusion Buffer System
Each trailer configuration should define a dynamic safety radius, based on:
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Hitch point to trailer axle distance
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Trailer width
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Turning radius
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Rear swing offset during turns
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Load type (water, seed, salt)
Function:
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Prevent rear swing from crossing restricted boundaries
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Automatically widen turning paths in tight areas
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Avoid re-passing already treated zones if not desired
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Simulate trailer path before execution
3. Trailer Collision Prediction (Simulation Layer)
Using existing navigation + obstacle avoidance system, extend logic to:
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Simulate full trailer path (not just robot path)
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Predict jackknife risk in advance
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Prevent trailer corner collisions with:
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fences
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trees
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walls
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garden beds
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obstacles
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This is an extension of existing obstacle avoidance, but extended to trailer geometry.
4. Event-Based Operation Management
Introduce an âEvent Modeâ system:
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System detects required attachment (example: seed spreader vs water tank vs salt spreader)
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App notifies user:
- âTrailer change required for next taskâ
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User confirmation required before execution
Optional enhancements:
- Schedule multiple events in one plan (auto switch workflow)
5. Camera-Assisted Trailer Verification
Use onboard cameras to:
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Detect if correct trailer is attached
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Confirm hitch alignment
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Verify trailer type via visual recognition
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Prevent task execution if mismatch detected
6. Real-Time Distance & Alignment Monitoring
Combine sensors + mapping to continuously calculate:
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Distance between robot rear axle and trailer axle
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Angular deviation (jackknife prevention)
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Lateral swing margin
This would allow real-time safety correction before collision occurs.
7. Why This Is Feasible
Most required systems already exist in Yarbo:
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Mapping and boundary zones
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Obstacle detection
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Path planning
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RTK/GPS positioning
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Camera systems
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Task scheduling
This feature would mainly require:
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Extending navigation model to include trailer physics
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Adding second âmoving bodyâ simulation layer
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Expanding UI for zone + trailer configuration
Conclusion
This would turn Yarbo into a true autonomous multi-purpose yard logistics platform, capable of:
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precise seeding
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controlled watering
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winter salt distribution
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material transport
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fully automated multi-step yard operations
with safe trailer-aware navigation.
