A computing system comprising: one or more processors configured to generate a collision free path of travel for a vehicle from a global start position (P S (x,y,z)) to a global target position (P T (x,y,z)) based on input data representing the global start position (P S (x,y,z)), the global target position (P T (x,y,z)), and a global obstacle map, wherein the generation of the collision free path of travel comprises defining a global search area encompassing at least the global start position (P S (x,y,z)) and the global target position (P T (x,y,z)) and determining a set of collision free trajectories by iteration, the set of collision free trajectories connecting the global start position (Ps(x,y,z)) to the global target position (P T (x,y,z)) via one or more local target positions (P L (x,y,z)), each iteration comprising: determining a local search area within the global search area, wherein the global search area includes a plurality of cells; determining, from the global obstacle map, a local obstacle map associated with the local search area; defining a local start position and one or more local target positions (P L (x,y,z)) within the local search area and calculating, in the local search area, a collision free trajectory from the local start position to the respective one or more local target positions (P L (x,y,z)) considering the local obstacle map; characterized in that a size of each cell of the plurality of cells is based on a corresponding obstacle density in the global obstacle map; wherein the definition of the one or more local target positions includes determining a centroid in each of the search grid cells adjacent the local start position; and wherein the centroid is computed as the arithmetic mean position of all obstacle free space points in the corresponding search grid cell. one or more processors configured to generate a collision free path of travel for a vehicle from a global start position (P S (x,y,z)) to a global target position (P T (x,y,z)) based on input data representing the global start position (P S (x,y,z)), the global target position (P T (x,y,z)), and a global obstacle map, wherein the generation of the collision free path of travel comprises defining a global search area encompassing at least the global start position (P S (x,y,z)) and the global target position (P T (x,y,z)) and determining a set of collision free trajectories by iteration, the set of collision free trajectories connecting the global start position (Ps(x,y,z)) to the global target position (P T (x,y,z)) via one or more local target positions (P L (x,y,z)), each iteration comprising: determining a local search area within the global search area, wherein the global search area includes a plurality of cells; determining, from the global obstacle map, a local obstacle map associated with the local search area; defining a local start position and one or more local target positions (P L (x,y,z)) within the local search area and calculating, in the local search area, a collision free trajectory from the local start position to the respective one or more local target positions (P L (x,y,z)) considering the local obstacle map; characterized in that a size of each cell of the plurality of cells is based on a corresponding obstacle density in the global obstacle map; wherein the definition of the one or more local target positions includes determining a centroid in each of the search grid cells adjacent the local start position; and wherein the centroid is computed as the arithmetic mean position of all obstacle free space points in the corresponding search grid cell. determining a local search area within the global search area, wherein the global search area includes a plurality of cells; determining, from the global obstacle map, a local obstacle map associated with the local search area; defining a local start position and one or more local target positions (P L (x,y,z)) within the local search area and calculating, in the local search area, a collision free trajectory from the local start position to the respective one or more local target positions (P L (x,y,z)) considering the local obstacle map; characterized in that a size of each cell of the plurality of cells is based on a corresponding obstacle density in the global obstacle map; wherein the definition of the one or more local target positions includes determining a centroid in each of the search grid cells adjacent the local start position; and wherein the centroid is computed as the arithmetic mean position of all obstacle free space points in the corresponding search grid cell.