Abstract: An improved Rapidly\|exploring Random Trees-based High\|dimensional motion planning algorithm for an agile and autonomous on\|orbit servicing spacecraft in complicated space environment is studied. This planner satisfies the requirement for agile and autonomous spacecraft maneuvering under complex constraints. The results show that this high\|dimensional motion planner can be used to obtain the feasible motion trajectories and adapt to the two modes of on and off line planning.

Key words: AGile spacecraft, On-orbit servicing, Autonomous planning, Random tree, High-dimensional motion