1. A method of route planning for a vehicle proceeding from a current location to a destination in a planning space, the method comprising: generating, through a processor, a destination-rooted tree from global information that provides cost-to-go routing to the destination from multiple locations in the planning space, wherein the global information includes course information including topographic and global weather information at various altitudes; generating, through the processor, a vehicle-rooted tree using local information from the current location out to a sensing horizon generated by vehicle based sensors; determining, through the processor, a local destination at the sensing horizon, the local destination corresponding to minimal cost-to-go routing obtained from the destination-rooted tree; and continually reducing the cost-to-go routing of the destination-rooted tree based on the local destination.