It　is　a　difficult　task　to　fulfill　a　path　planning　with　realistic　significance　when　aiming　at　a　single　target　point　in　such　complex　real-world.　This　paper　proposes　a　new　kind　of　multi-objective　path　planning　method　based　on　the　grid　map　for　planetary　exploration.　An　improved　D*lite　algorithm　is　presented　to　solve　the　local　optimal　path　planning　based　on　the　extraction　and　rasterization　of　Digital　Elevation　Model　(DEM)　graph.　Especially,　a　heuristic　algorithm　is　adopted　to　ensure　the　convergence　of　the　algorithm,　and　the　theoretical　proof　is　given.　Traveling　Salesman　Problem　(TSP)　is　demonstrated　to　verify　the　proposed　method.　Both　the　theoretical　proof　and　simulation　results　show　that　this　proposed　algorithm　is　feasible,　to　solve　planning　with　multi-goals　problem　successfully　and　with　a　good　performance　at　the　same　time.　©　2013　by　CESER　publications.