A typical manufacturing failure in powder bed additive manufacturing (AM) is caused by the collision between the already printed structure and the powder recoater due to large thermal deformation. This paper presents a density-based topology optimization (TO) approach to concurrently design parts and their supports that are not susceptible to such a manufacturing failure. The thermal deformation during the layer-by-layer AM process is predicted based on an inherent strain method, and the top surfaces' upward deformations are constrained below the powder layer thickness to avoid recoater collision. To increase the design freedom of TO, the parts and their supports are composed of lattice unit cells with different volume fractions, whose effective stiffness matrixes are predicted by the numerical homogenization and surrogate models. Besides, an overhang constraint and a two-field-based length scale control formulation are also utilized, ensuring overall manufacturability. With the proposed approach, lightweight structures with optimized mechanical properties and controllable manufacturing qualities can be obtained. Numerical examples are given to demonstrate the effectiveness of the proposed approach.