How to change the default term path "taxonomy/term/[tid]"
Please go Configuration->search and metadata -> url aliases -> pattern.

Check over to the Taxonomy Term Path. If you have created the plan as Taxonomy. 

Go to the Pattern for the Taxonomy plan and then create the URL path of the plan

If you want to display the Id in URL,give plan/[term:tid] or taxonomy name give it as plan/[term:name].