Abstract: During the process of lunar detection tele-operation,scientific exploration target is determined by sensing data and analyzing stage by stage in order to achieve planning of different level. According to planning requirements of different level and considering the complex terrain constrains in exploration on the far-side of the moon,an integrated environment cubic model of the lunar surface is established and a search algorithm of multiple constrained navigation points in the exploration period planning is proposed, through which the navigation points determination is realized considering detection point attainability, illumination condition,communication attainability and other factors comprehensively. For the navigation unit planning, a smooth curve path search algorithm is designed considering terrain attainability cost, mobile mileage cost and operation cost. The result shows the effectiveness and real-timeby the verification in simulation experiment environment.