In　accordance　with　the　problem　which　ingle　target　path　planning　is　difficult　to　simulate　the　complex　real　world,　this　paper　presents　a　new　multi-goal　path　planning　method　based　on　grid　map　for　planetary　exploration,　which　designs　and　realizes　the　corresponding　branch-detected　algorithm　and　heuristic　algorithm　to　solve　the　local　optimal　path　planning　and　TSP,　eventually　reach　the　target　state.　The　theoretical　proof　and　simulation　results　show　that　this　algorithm　can　successfully　solve　path　planning　with　multi-goal　and　with　a　good　performance　at　the　same　time.　©　2013　IEEE.