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The explosive ordnance disposal (EOD) manipulators are usually working in narrow passage circumstances. It is inefficient for classic method based on sampling to solve path planning problems in narrow passages. A certain Multi-RRT path planner based on sample enhancing is proposed. The developed technology has two parts:the first part is region based randomized bridge builder (region-RBB) . Sampling attribute are used to determine the parameter of bridge test of local configuration space and finite samples are collected in narrow passages. The second part is Multi-RRT algorithm. The samples collected by region-RBB, the start node and the goal node are initialized as roots of multi-trees which grow harmoniously to plan path of robots. The simulation results show that the proposed method increases the efficiency of rapidly-exploring random tree and solve the path planning problem of EOD manipulators in narrow passages effectively. And it is also appropriate for path planning of high degree of freedom robots in multi-dimension environment.