Yes, the target will be a moving object, but its motion will be steady and predictable. The helicopter and booster will be the only two objects in the area, and capture should be slow and steady when viewed from the reference frame of the copter that has matched velocity. Aerial refuelings look crazy from the ground but easy but from the pilot's point of view.

https://youtu.be/sL5MxCwkLJQ?t=94