Abstract: Path-planning is one of the major parts for Mars to complete exploration missions. With running slowly and higher computing complexity, traditional path-planning algorithms, such as A* and D* algorithms, are no longer in using. In this paper, a fast and efficient global path-planning method is got through improving the conretional A* algorithm. Then combining with local obstacle avoiding method, a complete rover path-planning method based on grid map is obtained. Finally, by using simulation provefs this method is effective and available.