Snake-like robots have the ability of automatically performing various tasks that require man-equivalent capabilities by reaching areas difficult or impossible to reach for human beings. However, problems in path planning and design of such robots prevent them from being fully functional. In this paper, a path planning algorithm for snake-like robots is presented. Snake-like robots are modeled with discreet serial links employing many degrees of freedom. They are able to follow smoothly curved paths consisting of many points by determining their configurations to reach the goal while avoiding obstacles in the workspace. Simulations have been accomplished to show the effectiveness of the algorithm.