Abstract: Considering the complexity of extreme lunar environments and the high cost of lunar exploration，using highly automated lunar based equipment for tasks such as lunar exploration，material transportation and base construction is the best choice.The autonomous movement of lunar based equipment relies on path planning.Therefore，based on the impact of extreme lunar environments and complex terrain on the autonomous movement of lunar based equipment，aiming at the autonomous path planning problem of lunar based equipment，four commonly used algorithms for global path planning are described：heuristic algorithm，sampling based algorithm，graph search based algorithm，and artificial intelligence algorithm，as well as two main local path planning methods：vision based path planning method and laser radar based path planning method.The advantages，disadvantages，and application scenarios of existing autonomous path planning methods for lunar based equipments from home and abroad are summarized，and the development trend of autonomous path planning for lunar based equipment is prospected，providing a reference for the design and application of future lunar based equipment.

Key words: lunar based equipment, autonomous mobility, path planning algorithm, lunar surface terrain, obstacle avoidance algorithm