According to the requirements of on-orbit system servicing in the future industrialized and military space, the
cooperative motion planning of multiple agile autonomous servicing spacecrafts system is studied with complicated space
environment. The improved rapidly-exploring random tree method considering the state of translation, rotation and time, is
used for cooperative motion planning of servicing spacecrafts’ accurate motion. This planner satisfies the requirement of agile
and autonomous spacecraft maneuvering with complex constraints. The simulation results show that this high-dimensional
motion planner can obtain the feasible motion trajectories and the computational efficiency is high.