Abstract: Thecurrentspacecraftformationtrajectoryplanningsdon′tconsidernoncooperativetarget，configurationcomplexityandcollaborativecontrolproblem.Arelativemotiontrajectoryplanningmethodbasedonbehaviorstrategywasproposedfornoncooperativetargetmultispacecraftformationsystem.Firstly，anunderlyingkinematicalfieldwasdesignedbasedonthegathermodel.Expectspeedwasdefinedasaseriesofspeedvectorwithdifferentbehaviorfeatures.Thebehavioradjustparameterswerecalculatedbyconstructingequilibriumshapingformula.Secondly，thenon-cooperativetargetwasdescribedwithGaussenvironmentfunction.TheexpectkinematicalfieldwasimprovedbyusingtheC-Wfunction.Themethod   notonlyavoidsthecollisionbetweentheformationmembers，butalsoguaranteesthesafedistancebetweenthenon-cooperativetargets.Thesimulationresultsshowthatthealgorithmcanmakethemulti-spacecraftformationsystemmovingtotheexpectconfigurationin3000seconds.Themethodhasobviousadvantageswhenusedincomplex，multiplecontroltargetoftheformationsystemtrajectoryplanning.Itisautonomy，collaborative，strongrobustness，andetc.Atthesametimethemethodcanbeappliedtodifferenttypesofformationconfigurationrelativemotionplanning.

Key words: behaviorstrategy, noncooperativetarget, multispacecraftformation, collisionavoidance, trajectoryplanning