Aiming at the path following motion of super redundant robot, the end obstacle avoidance path planning method is studied. In the aspect of obstacle modeling, the joint structure and path following motion state of super redundant robot are analyzed, the path constraints are introduced, and the obstacles are inflated; At the level of path planning, the traditional RRT^* algorithm is optimized, and the improved sampling method, the introduction of corner constraint and post collision adjustment are adopted to improve the traditional RRT^* algorithm’s disadvantages such as large random path and complex path. Experimental verification is carried out in MATLAB, and the results show that compared with the path planned by the traditional RRT* algorithm, this method can effectively shorten the path length, reduce the number of nodes, and improve the quality of path planning.