A new lunar mission (SELENE-B) including a lander is now in consideration in Japan. The mission will follow up SELENE (SELenological and ENgineering Explorer, a global remote sensing mission of the moon in 2004). Scientific investigation plans using a rover are proposed: exploration of a crater central peak to discover subsurface materials and exploration of the polar region to discover the trapped ice. We have already developed a 5-wheel engineering-model rover, Micro5, which has a long manipulator with a camera on top. The rover can climb over 15cm steps and rocks by a new suspension system PEGASUS.