Abstract: In order to solve the problem of attitude maneuvering control and attitude planning for the flexible probe under multiple constraints in the asteroid flexible attachment scenario, in this paper, a goal-oriented attitude planning method for an asteroid-attached flexible probe was proposed. By constructing a node-plane coupling dynamic model, the attitude description and dynamic constraint characterization of the flexible three-node probe were realized. A local optimization expansion strategy was designed to improve the RRT algorithm. The optimization objective was to shorten the distance to the target attitude. The quadratic programming problem was constructed by combining with the attitude dynamics model of the flexible body to enhance the purpose of maneuvering along the attitude path. The simulation results show that compared with the traditional heuristic planning method, the proposed method takes less time to calculate, optimizes the attitude maneuver path length, and can meet the attitude maneuver requirements during the flexible landing process of the asteroid probe. It provides support for the implementation of the small body project.