Mission　Planning　is　a　key　technology　in　teleoperation　of　lunar　rover,　however,　mission　planning　is　a　domain　related　technology　and　some　approaches　in　other　domains　could　not　be　used　directly　for　lunar　rovers.　Aimed　at　this　problem,　rover　planning　architecture　is　divided　into　several　layers.　Supposed　global　planning　has　gotten　the　path　and　all　waypoints　along　the　path,　the　behavior　planning　on　each　waypoint　is　considered.　In　the　case　of　considering　most　of　environment　factors　such　as　terrain,　sunlight,　energy　and　communication,　the　approach　based　on　situation　calculus　is　proposed,　which　could　be　used　to　give　out　the　behavior　sequence　of　lunar　rover.　An　instance　is　also　to　be　put　forward　to　illustrate　how　to　build　a　rover　behavior　planner　by　using　situation　calculus.