Abstract: Toavoidthedynamicobstaclesduringspacecraftautonomousproximityoperations,afuelsavingandhighaccuracyadaptiveartificialpotentialfunctionguidancemethodfordynamicobstaclesavoidancewaspresented.AsforthesituationthattheGaussianrepulsivepotentialfunctionwasnonzeroatthedesiredposition,acorrectiontermwasmultipliedtoeliminate deviationfromtheequilibriumpoint.Theguidancelawofavoidingdynamicobstacleswasdeducedbasedonthatofthestaticobstaclesavoidance.Then,accordingtotherelationshipbetweenvelocityandgravitygradient,thenegativefeedbackcontrolwasdesignedtomakethegravitygradientadapttothevarianceofvelocity,andtheadaptiveartificialpotentialfunctionguidancelawfordynamicobstaclesavoidancewasobtainedeventually.Toverifythecorrectnessandeffectivenessoftheguidancelaw,aseriesofnumericalsimulationsusingtheprecisemathematicalmodelwerecarriedout.Thesimulationresultsshowthatthecorrectedpotentialfunctioncaneffectivelyimprovetheconvergentprecision;andtheadaptiveartificialpotentialfunctionguidancelawmakesthecontrolpulsesmorereasonable,withsaving30%ofthetotaldeltaV,andistwodegreesmoreaccuratethanthetraditionalartificialpotentialfunctionguidancelaw.

Key words: Artificial potential function, Guidance, Dynamic obstacles, Adaptive, Spacecraft