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 algorithm for paths evaluation. In our experiment Analytical Hierarchy Process algorithm considers four different criteria, i.e. distance, motors damage, mechanical 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 algorithms.

翻译：本文针对连续体机器人进行了一项考虑多目标优化问题的弹性路径规划实验研究。为此，我们采用了两种知名算法——遗传算法和A*算法——进行路径规划，并运用层次分析法进行路径评估。在我们的实验中，层次分析法考虑了四个不同的标准：距离、电机损伤、机械损伤和精度，每个标准都被认为对连续体机器人的弹性有所贡献。采用不同标准对于延长机器人的维护操作间隔时间是必要的。实验表明，一方面这两种算法均可与层次分析法结合用于多标准路径规划，另一方面在两种算法的比较中，遗传算法表现出更优的性能。