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An ellipsoid model is applied to describe the outer envelopes of the service spacecraft and the obstacles via an eigenvalue algorithm. This has better description precision than the traditional methods. The potential sigmoid function is used to generate repulsive force to avoid obstacles collision. A velocity artificial potential function-based controller is finally developed to ensure that the relative speed of the service spacecraft is reduced to zero before reaching the outer envelops of obstacles. The shaping parameters of the attractive potential function are adaptively optimized. 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