  The paper presents an experimental study of resilient path planning for
con-tinuum robots taking into account the multi-objective optimisation problem.
To do this, we used two well-known algorithms, namely Genetic algorithm and A*
algorithm, for path planning and the Analytical Hierarchy Process al-gorithm
for paths evaluation. In our experiment Analytical Hierarchy Process algorithm
considers four different criteria, i.e. distance, motors damage, me-chanical
damage and accuracy each considered to contribute to the resilience of a
continuum robot. The use of different criteria is necessary to increasing the
time to maintenance operations of the robot. The experiment shows that on the
one hand both algorithms can be used in combination with Analytical Hierarchy
Process algorithm for multi criteria path-planning, while Genetic algorithm
shows superior performance in the comparison of the two algo-rithms.
