This paper presents a hierarchical cell mapping method for the numerical solution of multi-objective path planning problems in known and static environments.The method divides the design space into a finite number of cells and approximates the Pareto set with the discrete cells.We apply the subdivision of the cells until a desired granularity of the Pareto set is reached.The cell mapping algorithm combined with subdivision techniques achieves the accuracy and efficiency of the numerical computations.Case studies are reported to demonstrate the method.