The disclosed subject matter includes a method and system for navigating an unmanned ground vehicle (UGV), that include:



generating, based on the scanning output data, a first map comprising a first group of cells and characterized by a first size;
generating, based on the scanning output data, a second map representing an area smaller than that of the first map comprising a second group of cells, which are characterized by a second size being smaller than the first size; wherein each cell in the first group of cells and the second group of cells is classified to a class selected from at least two classes, comprising traversable and non-traversable, wherein the second part at least partly overlaps the first part; navigating the UGV based on data deduced from crossing between cells in the first map and second map.