Although there is an obvious relationship between the Chinese Postman Problem (CPP) and the path-planning problem for multiple target-search tasks by a robot, no attempts have been made so far to connect the two. A novel map transformation framework (MTF) is proposed in this paper. With MTF, a feature map or a topological map can be converted into a standard topological map on which many graph-search algorithms suitable for CPP can be employed to carry out path planning for multiple target search. Theoretical analysis proves that the route generated by this approach is optimal. Both simulation results and experiments indicate that the MTF-based algorithm is better than several other target-search algorithms. © 2012 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.