make taxonomy terms more human friendly
You can use Pathauto module and follow these steps:


Enable pathauto module
Go to admin/config/search/path/patterns and set the patterns for specific taxonomy using Token module and save the form
Go to admin/config/search/path/update_bulk and generate URLs for taxonomy


Don't worry about the existing URLs (no matter wherever you added it) it will remain same, Pathauto will not effect anything. Now, visitors can access by both URLs (default and newly generated).

I hope this will help you.