Online Trajectory Planning for Docking to Tumbling Spacecraft with Active Maneuver

In the field of On-Orbit Services, docking to tumbling target plays a key role. The paper proposes an online trajectory planning algorithm for docking to a tumbling spacecraft. Different from conventional trajectory planning, our algorithm involves sudden change of the target motion raised by its active maneuver or debris impact during final approaching. With energy-optimal trajectory generated by gauss pseudo-spectral method and improved online replanning, the algorithm can guide the service spacecraft to the specified region. Cuboid rather than spherical non-fly zone surrounding the target is presented as path constraints in planning to save more energy. Some docking scenarios are simulated and results show less energy consuming and calculating time of this algorithm.