For planetary exploration, path planning for a rover is one of the important missions. This paper deals with Shape from Shading (SfS) scheme for estimation of planet terrain. As a reliable reflectance model of a surface, the Hapke model is formed in the world of remote sensing. This paper proposes to utilize the Hapke model in the SfS algorithm for multiple camera images. Since the Hapke model has singularity when the gradient vector of a surface element is coincident with a certain direction, the model is modified not to show the singularity. As a result, the SfS algorithm is applicable to multiple camera images and valid regardless of the degree of albedo of the surface. Applying the proposed SfS algorithm for multiple images, an autonomous path planning based on Dynamic Programming is shown. The effectiveness of the proposed scheme is investigated in numerical simulations, and some discussion about the results is presented.