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 a destination-rooted tree from global information that provides cost-to-go routing to the destination from multiple locations in the planning space; generating a vehicle-rooted tree using local information from the current location out to a sensing horizon; and determining a local destination at the sensing horizon, the local destination corresponding to minimal cost-to-go routing obtained from the destination-rooted tree.