Non-cooperative　target　herding　is　one　of　the　concerns　in　the　robotics　field.　For　the　non-cooperative　target　herding　problem,　a　general　planning　framework　is　proposed　to　compel　the　target　to　the　destination　by　a　mobile　robot　team　with　pursuit,　encirclement,　and　guidance　operations.　In　the　proposed　planning　framework,　the　encirclement　strategy　and　guidance　strategy　are　designed　to　deal　with　the　unpredictability　of　the　target.　Firstly,　the　mobile　robots　approach　the　randomly　moving　target　in　the　pursuit　process.　Secondly,　the　encirclement　strategy　is　applied　in　the　encirclement　process　to　enable　the　mobile　robot　team　to　encircle　the　non-cooperative　target.　Finally,　the　guidance　strategy　is　employed　in　the　guidance　process　to　enable　the　mobile　robot　team　to　form　a　favorable　encirclement　formation　and　compel　the　non-cooperative　target　to　the　destination.　During　the　herding　task,　the　mobile　robots　encircle　the　target　or　other　mobile　robots　in　a　satellite-like　motion.　Moreover,　two　queues　(orbiters　and　wanders)　are　maintained　to　change　the　formation　adaptively,　improving　the　flexibility　of　the　framework.　Various　environments　are　designed　to　verify　the　effectiveness　of　the　planning　framework　both　in　simulations　and　real-world　experiments.　Furthermore,　the　proposed　framework　is　a　general　platform　having　great　potential　for　various　applications,　where　the　numbers　of　mobile　robots　in　the　herding　team　are　changeable,　and　different　planning　algorithms　can　be　integrated　into　the　framework.