Desperus

Desperus was an Earth prison planet in the 41st century where internees were dumped to fend for themselves or die. It was also inhabitated by large bats called Screamers.

As Bret Vyon said, the only ships that stopped there were prison ships from Earth, and there were no guards or prison warders. The First Doctor crashed there on the Spar while trying to stop the Daleks' master plan, due to a tractor beam from the Daleks. It was on the route from Kembel to Earth. They took off again, although not before they had picked up a stowaway, Kirksen. (TV: The Daleks' Master Plan)