This paper presents a review on some conventional method of path planning of robotic systems in cluttered environment. Hence, the complexity and uncertainty of the path planning are increased in presence of environmental obstacles, this matter has been received a great deal of interest, recently. In this work, some conventional method on the obstacle avoidance of the robots such as potential field method, road map method and cell decomposition method are presented, and the effectiveness and defects of these methods are discussed. Moreover, some advanced methods on the obstacle avoidance and the path planning of the fixed and mobile robots are reviewed and discussed including Genetic Algorithm, Neural Network, Fuzzy logic, Ant Colony, Particle Swarm Optimization, Wavelet Theory, Tabu Search.