A system and a method for generating a trajectory of a target device from a current position to a goal position within an environment is provided. The method may include: inputting physical workspace information associated with the environment in which the target device, to a first neural network to obtain a set of weights representing a cost-to-go function that defines a cost-to-go function relating to a length of a collision-free path from one position to the goal position; configuring a second neural network based on the set of weights; identifying a next position of the target device based on the current position and a motion control input of the target; and inputting the identified next position of the target device and the goal position to the second neural network to identify the trajectory to the goal position, and the motion control input corresponding to the trajectory.