The aim of this paper is to propose a planning method which is used to get an optimized obstacle avoidance trajectory rapidly for a manipulator working in narrow space. In this paper, a local search method basing on high order splines is used to generate an optimized obstacle avoidance trajectory which guarantee the trajectory velocity continuous, acceleration continuous in joint space and minimize the traveling time, the length of the joints and the path length of the end effector. We study the performance of the algorithm proposed in the paper with simulation and experiment which indicate that it is indeed of high convenience and efficiency.