Mission　planning　of　rover　in　lunar　exploration　environment　is　the　key　technology　for　scientific　exploration　at　specified　location.　During　the　moving　to　destination,　rover　executes　various　working-modes　including　sensing,　charging,　detecting,　sleeping　and　moving.　The　execution　of　each　kind　of　working-mode　needs　to　abide　by　some　interior　constraints　when　rover　switches　to　different　working-modes,　furthermore,　also　needs　to　fulfill　some　external　constraints,　such　as　terrain　passing　ability,　communication　window　to　the　earth,　visibility　to　the　sun.　Under　these　constrains,　a　heuristic　searching　algorithm　is　used　to　plan　and　expand　in　the　state　spaces　of　executable　working-modes.　In　the　end,　a　sequence　of　working-mode　under　the　condition　of　least　cost　is　output,　and　thereby　the　task　requirement　of　exploration　at　specified　location　is　satisfied.　©　2014　IEEE.