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Considering the ultra-short distance approaching plan of on-orbit service, the trajectory plan strategy based on the Gaussian pseudo-spectral method is researched. Given the target spinning, safety, fuel and maneuver factors, a model which contains a secure area as well as a prohibited area is built. Furthermore, the method to plan a safe on-orbit service trajectory and the solution based on the Gaussian pseudo-spectral method are also presented. Finally, simulations are performed to prove the validity of the plan, and analyze the influence of optimal function and maneuver time. The results demonstrate that the planned trajectory is capable of avoiding the prohibited area and finding the best trajectory in terms of the relative distance, fuel cost and maneuver time respectively.