Randomization-based algorithms for real-time servicing spacecraft motion planning on elliptical orbit

Randomization-based motion planning algorithm is represented to solve the servicing spacecraft maneuvering in close proximity of servicing target on elliptical orbit. This algorithm can satisfy the requirement of real-time planning, and consider a variety of constraints. State transition matrix is applied to computation of relative motion on elliptical orbit without numerical integration for reduction of computational complexity. Then randomization-based motion planning algorithm with dependent variable (i.e. time) is used to obtain feasible trajectories rapidly to satisfy the requirement of realtime planning for relative motion on elliptical orbit. Finally, two-phase planning is represented to solve rapidity problem for larger range of relative motion and more complicated obstacles. In the example, the effectiveness of the methods is illustrated for relative motion close to large structures, and a discussion of the results concludes this paper.