In this thesis a new path planner method based on NURBS (Non Uniform Rational Basis-Splines) geometric curves is presented and applied in the context of planetary surface exploration. A review on robot navigation and path planner algorithms with particular focus on rover exploration techniques used by NASA and ESA is done. After that, NURBS theory and integration in a new path planner algorithm is explained in detail. Last, a comparison between classical path planner algorithms, like A*, and NURBS path planner is discussed, focusing on the advantages and results of the latter. The methodologies used are many, from NURBS mathematics, a kind of parametric curves with their properties, to computer vision and C++ algorithms.