In　order　to　implement　the　task　sequence　planning　for　the　planetary　rover　in　one　mission　site　under　complex　constraints,　this　paper　presents　an　environment　modeling　method　to　form　the　domain　model.　This　method　simplifies　the　constraints　by　transforming　them　into　temporal　constraints,　and　therefore　the　task　sequence　planning　problem　is　transformed　into　temporal　planning　problem.　This　method　utilizes　the　dichotomizing　search　algorithm　to　get　the　constrained　timeline　model.　All　tasks　need　to　be　performed　are　constrained　by　the　characteristic　time　points　on　the　constrained　timelines.　The　experiment　demonstrates　that　this　model　is　suitable　for　temporal　mission　planning　of　planetary　rover.　©　2013　IEEE.