Abstract: Aimed at solving the problems of large fuel consumption，imbalance and long timeconsumption in the application of traditional cluster aggregation algorithm in spacecraft cluster planning，an energy optimal clustered collision avoidance algorithm based on centripetal aggregation was proposed.Firstly，based on the relative motion equation of the cluster and the finitetime energy optimization model，the energy optimal model of adaptive centripetal aggregation was established by the algorithm.On this basis，for the problem of long time-consumption and collision，a cluster collision avoidance algorithm based on energy optimization was proposed.The safe distance vector between modules was used as the collision avoidance constraint，and the energy consumption was used as the clustering algorithm index.The simulation results show that the algorithm can adaptively select the center of cluster clustering，effectively avoid collision，reduce the total energy consumption of cluster aggregation and the imbalance of energy consumption between modules，so that the working fluid consumption is globally optimal，and the time consumption is only one ten thousandth of that of the conventional genetic algorithm.This algorithm provides an idea for rapid and safe clustering of clusters.

Key words: cluster aggregation, trajectory planning, optimal energy, collision avoidance clustering, finite time constraint