This　paper　improved　the　planning　for　mechanical　at　3-DOF　lunar　rover　in　two　aspect.　First,　motion　planning　by　SA*　heuristic　algorithm,　which　minimize　the　change　of　configuration,　enhance　the　security　and　efficiency　of　the　surveying　for　mechanical　of　lunar　rover　in-site.　Second,　we　in　delaunay　triangulation　the　environmental　point　cloud　in　collision　detection,　which　interpret　the　problem　of　collision　detection　to　position　relationship　between　line　and　plane.