A method of autonomous path planning onboard an unmanned vehicle traversing an area, the method comprising: operating a scanning device for executing scanning operations, comprising scanning a region within the area, to thereby generate respective scanning output data; generating a map based on the scanning output data, the map representing at least a part of the region, the map is divided into cells, each cell is classified to a class selected from at least two classes, comprising traversable and non-traversable; based on the map, planning multiple paths for the UV, wherein in each one of the multiple paths the UV is to assume a plurality of respective vehicle-states characterized by a respective position and heading of the UV; the planning comprising: evaluating each one of the multiple paths, comprising: for each path, querying a data structure; the data structure is configured to maintain one or more entries, each of the entries represents a respective vehicle-state characterized by at least a respective position and heading of the UV, and includes data related to feasibility of the vehicle-state; determining if the data structure comprises data corresponding to the respective vehicle-states along the path, and if yes, using data stored in association with the respective vehicle-state for planning the path, otherwise computing and storing the data associated with the vehicle-state; and selecting a preferable path from the multiple paths; wherein using the data enables to evaluate more paths in a predetermined period and thereby enhance the selection of a preferable path. operating a scanning device for executing scanning operations, comprising scanning a region within the area, to thereby generate respective scanning output data; generating a map based on the scanning output data, the map representing at least a part of the region, the map is divided into cells, each cell is classified to a class selected from at least two classes, comprising traversable and non-traversable; based on the map, planning multiple paths for the UV, wherein in each one of the multiple paths the UV is to assume a plurality of respective vehicle-states characterized by a respective position and heading of the UV; the planning comprising: evaluating each one of the multiple paths, comprising: for each path, querying a data structure; the data structure is configured to maintain one or more entries, each of the entries represents a respective vehicle-state characterized by at least a respective position and heading of the UV, and includes data related to feasibility of the vehicle-state; determining if the data structure comprises data corresponding to the respective vehicle-states along the path, and if yes, using data stored in association with the respective vehicle-state for planning the path, otherwise computing and storing the data associated with the vehicle-state; and selecting a preferable path from the multiple paths; wherein using the data enables to evaluate more paths in a predetermined period and thereby enhance the selection of a preferable path. evaluating each one of the multiple paths, comprising: for each path, querying a data structure; the data structure is configured to maintain one or more entries, each of the entries represents a respective vehicle-state characterized by at least a respective position and heading of the UV, and includes data related to feasibility of the vehicle-state; determining if the data structure comprises data corresponding to the respective vehicle-states along the path, and if yes, using data stored in association with the respective vehicle-state for planning the path, otherwise computing and storing the data associated with the vehicle-state; and for each path, querying a data structure; the data structure is configured to maintain one or more entries, each of the entries represents a respective vehicle-state characterized by at least a respective position and heading of the UV, and includes data related to feasibility of the vehicle-state; determining if the data structure comprises data corresponding to the respective vehicle-states along the path, and if yes, using data stored in association with the respective vehicle-state for planning the path, otherwise computing and storing the data associated with the vehicle-state; and selecting a preferable path from the multiple paths; wherein using the data enables to evaluate more paths in a predetermined period and thereby enhance the selection of a preferable path.