Autonomic　mission-planning　is　important　to　lunar　rover　because　it　can　improve　the　reliability　and　efficiency　of　science　exploration.　The　complex　environment　of　rovers　makes　the　planned　results　are　affected　by　many　factors.　A　practical　mission　sequence　could　not　be　made　without　considering　these　comprehensive　factors.　Aimed　at　the　practical　need　of　mission-planning　for　lunar　rovers,　a　planning　domain　modeling　technology　has　been　put　forward,　taking　account　of　lunar　terrain　traversabilities,　earth　communication　opportunities,　solar　energy　requirements,　temperature　limits　and　mechanical　interventions.　When　rovers　traverse　on　the　moon,　a　dynamic　searching　algorithm　called　SD*Lite　is　developed.　All　way　stations　along　the　path　from　start　station　to　ending　station　and　working　mode　sequence　at　each　way　station　can　be　gained　based　on　the　searching　algorithm.