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Claudius was a roman astromener and created the geocentric models in 130AD.
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Nicolaus proposed the theory that instead of everything revolving around earth, everything revolved around the sun. This wasn't entirely correct but it was more accurate then the geocentric models of Claudius.
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Galileo discovered multiple moons with a telescope and even the rings of Saturn.
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In the early 17th century Johannes defended the theory that everything revolved around the sun and that the planets did not go in perfect cirlcles.
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In 1720 he discovered a transit of mecury acorss the sun.
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William found Uranus and its two moons in 1760
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The first asteroids that were found were in the first half of the 19th century and at the time were called minor planets.
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Urbain predicted the position of Neptune using on maths in the mid 19th century.