This　paper　presents　a　mission　planning　method　for　planetary　rover.　As　a　decision　support　system,　mission　planning　is　important　for　rover　navigation　and　control.　Generating　travel　path　and　task　sequence　synchronously　is　the　key　point.　In　this　paper,　the　environment　model　of　planetary　surface　is　summed　up　as　two　parts　which　are　obstacle　map　and　timeline.　According　to　this,　the　mission　planner　utilizes　state　space　search　method　for　path　planning　on　obstacle　map.　When　expanding　state,　it　executes　task　sequence　planning　and　scheduling　on　timeline.　Experimental　results　showed　that　this　method　could　conduct　the　path　planning　and　task　sequence　planning　synchronously,　which　proved　the　viability　of　the　method.　©　2013　ACADEMY　PUBLISHER.