A method for determining a path of an object like a robot, etc. for moving from a starting state to an end state set comprising one or more end states via one or more nodes (PN, CN) each being defined as an obstacle free state that has been explored avoiding one or more obstacles, characterized by the steps of a) Determining a plurality of child nodes (CNO, CN1, CN2) to a parent node, wherein the starting node representing the starting state is the parent node when step a) is performed for the first time, and wherein the child nodes (CNO, CN1, CN2) are within a certain distance to the parent node, b) Checking whether the transitions from the parent node to each of the child nodes (CNO, CN1, CN2) are free of obstacles, and if not the corresponding child node (CNO, CN1, CN2) and this partial path from the parent node to this child node (CNO, CN1, CN2) is excluded, c) Computing a cost value for each of said partial paths, d) Add said computed cost value to a cost value from the starting node to the parent node, e) Add an estimated or expected cost value for the partial paths from each of the child nodes (CNO, CN1, CN2) to an end node representing an end state, f) Determining the lowest overall cost value from the determined cost values according to steps d)-f) and selecting the child node (CNO, CN1, CN2) as new parent node associated with the determined lowest cost, g) Repeated performing the steps a)-g) until at least one termination condition is fulfilled including the termination condition if a selected child node (CNO, CN1, CN2) is within a pregiven distance to the end node wherein a lower bound value for the real cost from a child node (CNO, CN1, CN2) to the end state set may be determined and used as said estimated or expected cost in step e). a) Determining a plurality of child nodes (CNO, CN1, CN2) to a parent node, wherein the starting node representing the starting state is the parent node when step a) is performed for the first time, and wherein the child nodes (CNO, CN1, CN2) are within a certain distance to the parent node, b) Checking whether the transitions from the parent node to each of the child nodes (CNO, CN1, CN2) are free of obstacles, and if not the corresponding child node (CNO, CN1, CN2) and this partial path from the parent node to this child node (CNO, CN1, CN2) is excluded, c) Computing a cost value for each of said partial paths, d) Add said computed cost value to a cost value from the starting node to the parent node, e) Add an estimated or expected cost value for the partial paths from each of the child nodes (CNO, CN1, CN2) to an end node representing an end state, f) Determining the lowest overall cost value from the determined cost values according to steps d)-f) and selecting the child node (CNO, CN1, CN2) as new parent node associated with the determined lowest cost, g) Repeated performing the steps a)-g) until at least one termination condition is fulfilled including the termination condition if a selected child node (CNO, CN1, CN2) is within a pregiven distance to the end node wherein a lower bound value for the real cost from a child node (CNO, CN1, CN2) to the end state set may be determined and used as said estimated or expected cost in step e).