In this work a path planning which is the first step of motion planning in especially snake-like robot applications, away from an obstacle in an environment where exist many obstacles is developed. Different from the algorithms in literature, a path away from an obstacle is planned without determining the configuration free space in a place that contains many different shaped obstacles with the help of intelligent objects that are created object oriented programming (OOP) techniques. With the help of this developed algorithm not only the probable paths but also finding the shortest, safest and fastest path and correcting it with the help of intelligent objects are evaluated at the same time. Also user can adjust relationship between performance and path quality by changing object count. (C) 2015 Elsevier Ltd. All rights reserved.