Mixed motion planning of multiple autonomous on-orbit assembly spacecrafts with impulse thrust

Mixed motion planning algorithm based on randomized sampling-based motion planning for multiple autonomous on-orbit servicing spacecrafts with impulse thrust in a complicated space environment and explicit equations are studied. The planner satisfies the requirement of autonomous spacecraft maneuvering with complex constraints. The results show that this motion planner can obtain the feasible accurate motion trajectories and adapt to the two modes of on and off line planning.