This　paper　presents　a　mission　planner　for　planetary　rover　based　on　a　new　algorithm.　The　paths　returned　by　the　algorithm　consider　the　stationary　solar　charge,　the　communication　with　the　work　station　on　earth　and　the　complicated　environment　which　can　affect　daily　mobility　activities　of　the　planetary　rover.　Most　grid-based　planners　use　discrete　state　transitions　that　constrain　an　agent　motion　to　a　small　set　of　possible　headings.　As　a　result,　the　optimal　grid　path　is　actually　a　suboptimal　path.　Our　approach　uses　Euclidean　distance　to　estimate　the　cost　and　then　converse　to　the　time　of　work　pattern,　after　scanning　the　visibility　of　two　points.　Consequently,　it　is　well　suited　to　planning　smooth　trajectories　for　the　planetary　rover.　©　2011　IEEE.