To build a feasible and robust setting model in lunar rover path-planning, MCWM, a novel method of setting modeling, was proposed. The terrain traversability, system uncertainty, human-machine cooperation and movement smoothness were taken into account. Then, for the creation of MCWM model, a synthetic cost map for path-planning was created. Simulation results show that MCWM can improve the safety and performability of the path, thus the feasibility and validity of the modeling is confirmed.