Study on random sampling motion planning algorithm for maneuvering in close of on-orbit servicing spacecraft

Because of characteristics of maneuvering in close of on-orbit servicing spacecraft, the motion planning algorithm needs to satisfy the requirements of real time, rapidity and adaptability. Analysis the characteristics of rapidly-exploring random trees algorithm based on randomized motion planning, apply the state transition matrix to compute relative motion on elliptical orbit, represent the motion planning algorithm with dependent variable like time based on basic rapidly-exploring random trees algorithm. Prove this algorithm to satisfy the above requirement from the simulations finally.