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The paper aims to identify such a method of guidance and attitude control for the spacecraft motion in vicinity of objects with complex geometric shape as asteroids. Proposed methods provide both sufficient accuracy of the calculations and ease of use. The approach suggested by the authors is based on the model of point-focus concentrators and is based on the topological similarity of the gravitational field form obtained and the real form of the object. The control models are based on the locally optimal control laws.The first problem is to define particular law for every maneuvering task and correspondent coefficients that determine control program for an engine. The second problem is to define the low thrust engine, which is able to produce necessary exhaust velocity and thrust level. Authors suggest the algorithm of getting accurate design characteristics for the spacecraft. The paper materials are of practical value to the professionals involved in the problems solution of spacecraft control systems development when designing missions affecting maneuvering in close proximity to asteroids, comets and small planetary satellites.