Large language model (LLM)-based agents provide a novel paradigm for the automated processing of remote sensing(RS) data. Their success in complex RS tasks rely on extensive specialized tool libraries. However, tool documentation often exceeds the context window limits of LLMs, making precise tool retrieval essential for agentic workflows. Existing tool retrieval methods face "semantic asymmetry" bottleneck: natural language queries typically express macro-level intentions lacking tool-specific semantics, while tool documentation provides fine-grained technical descriptions lacking operational context for workflows. To bridge this semantic gap, this paper proposes a bidirectional semantic complementary tool retrieval method. First, on the query side, we introduce a planning-based query enhancement mechanism that leverages the reasoning capabilities of agents to decompose abstract intentions into logical subtasks, thereby actively supplementing the query with missing functional semantics. Second, on the tool side, addressing the strong coupling characteristics of RS tool chains, we construct a dynamic tool dependency graph with continual learning capabilities. By employing a neighborhood information aggregation mechanism, contextual information from precursor tools is explicitly injected into the current node representation, enriching tool descriptions with contextual semantics. Experimental results on the RS dataset GeoPlan-bench and the general-purpose dataset API- Bank demonstrate that the proposed method not only significantly improves tool retrieval accuracy for complex RS tasks but also exhibits robust extensibility for transfer to general-domain tasks. The source code and dataset are available at https://github.com/geox-lab/BSCTR.