Planetary rovers are becoming indispensable for exploration activities and science missions. The rover used in such mission is often limited in its operation time owing to power and computational resources of the rover. In this paper, a trajectory planning method for a planetary rover is proposed that considers vehicle dynamics, and energy management of the rover. The vehicle dynamics is approximated from a dynamic simulation of the rover, which can estimate the power consumption in accordance with terrain traversability of the rover. The power generation of the solar array panel mounted on the rover is also taken into account. The simulation study confirmed the usefulness of the proposed method, especially in scenarios where slopes could be observed, and one result indicated that the energy margin could be improved by 4.1 kJ, 13.9$\mathrm{\%}$ at maximum.

行星探测器在探索活动和科学任务中变得不可或缺。由于流动站的功率和计算资源，在这种任务中使用的流动站通常在其运行时间上受到限制。在本文中，提出了一种考虑车辆动力学和漫游车能量管理的行星漫游车轨迹规划方法。车辆动力学近似于漫游车的动态仿真，可以根据漫游车的地形穿越性来估计功耗。安装在漫游车上的太阳能电池板的发电量也被考虑在内。模拟研究证实了所提出方法的有效性，尤其是在可以观察到斜率的情况下，一项结果表明能量裕度可以提高 4.1 kJ，13.9$\mathrm{\%}$ 最多。