In this paper, the spacecraft close-range safe proximity problem is investigated. In the presence of a “chief” spacecraft, a Multi-Equal-Collision-Probability-Curve (MECPC) method is developed. The influence of the chief spacecraft with a convex polygon shape is considered and the chief spacecraft is divided into several small components. Each component generates a corresponding separate repulsive force and the superposition of these forces is regarded as the ultimate avoidance force. As a result, the proposed MECPC method not only improves the system robustness against control and navigation uncertainties but is also analytically validated in collision avoidance. The MECPC method solves the safe proximity problem in the presence of a convex polygon shape. In addition, an Improved Linear Quadratic Regulator (ILQR) is designed to track the expected trajectory. Numerical simulations are performed in a close-range operation environment to verify the effectiveness of the proposed MECPC method.
