Abstract: In order to reduce the cost of on-orbit service,the programming of on-orbit service mission for multiple object spacecraft in coplanar circular orbits was studied.First,the mission scenario was analyzed and the mathematic model was set up.The mission programming was a bi-layer optimization problem,and the outer layer was an optimal time distribute question while the inner layer was the multiple-revolution Lambert problem.Secondly,the solving method and its corresponding step were given.The inner layer problem was solved by a scheme method and the outer layer problem by the genetic algorithm.Finally,take three object spacecrafts as example,the programming problem was solved under two conditions that the mission time was limited or not.The results validate the efficiency of the method.