SMA PLT INADVERTENTLY FLIES THROUGH RESTR AIRSPACE DURING A VFR CROSS COUNTRY FLT USING PILOTAGE AS NAVIGATION.

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THE FIRST FACTOR CONTRIBUTING TO THE MISTAKE WAS INADEQUATE AND HURRIED PREFLT PLANNING. MY GOAL WAS TO MAKE IT TO MY FINAL DEST BEFORE XA00 SO I NEEDED TO LEAVE AS SOON AS POSSIBLE. FROM ZZZ ARPT I PLANNED MY FLT USING THE ONLINE DUATS FLT PLANNER SVC; BUT NEVER ACTUALLY DREW MY RTE ON THE SECTIONAL CHARTS. THIS ALLOWED ME TO PLAN THE FLT QUICKLY AND ACCURATELY USING UP-TO-DATE WINDS ALOFT INFO; BUT I FAILED TO SCAN THE ROUTE FOR SPECIAL USE AIRSPACE OR TFR'S. AS I WAS APCHING MY FUEL STOP; FROM THE N; I MAY HAVE HAD THE SECTIONAL FOLDED SO THAT I COULDN'T SEE THE RESTR AREA. I WAS NOT FOLLOWING ANY VOR RADIAL ON THIS SEGMENT OF THE FLT; I JUST WAS SPOTTING LANDMARKS AND BASING MY COURSE OFF OF THEM. THE LAST LANDMARK THAT I POSITIVELY RECOGNIZED BEFORE ENTERING THE RESTR AREA WAS THE ZZZ1 ARPT. AFTER SEVERAL MINUTES OF FLT OVER AN AREA WITH FEW PROMINENT LANDMARKS; I REALIZED THAT I HAD BEEN PERSISTENTLY L OF MY DESIRED HEADING FOR A FEW MINUTES. I SCANNED THE GND FOR LANDMARKS TO DETERMINE MY POSITION AND SPOTTED MILITARY VEHICLES POSITIONED IN THE FOREST BELOW. I LOOKED AT THE CHART AND DETERMINED THAT I WAS IN RESTR AREA ZZZ AND HAD ALREADY PASSED THROUGH RESTR AREA ZZZ1. I IMMEDIATELY MADE A TURN TO THE W AND EXITED THE RESTR AIRSPACE. THEN I CONTINUED S TO JUST W OF THE RESTR AREA'S EDGE. I BELIEVE ONE OF THE MAIN CAUSES OF THIS INCIDENT; IN ADDITION TO THE HASTY PLANNING ALREADY MENTIONED; WAS COMPLACENCY. SINCE THIS WAS JUST A VFR FLT IN GOOD WX; I HAD A SOMEWHAT CARELESS MINDSET. I WASN'T HOLDING MY DESIRED HEADINGS OR ALTITUDES VERY PRECISELY AND WAS ALLOWING MYSELF TO DAYDREAM INSTEAD OF LOOKING FOR LANDMARKS. THIS INCIDENT COULD HAVE BEEN PREVENTED BY TWO THINGS. FIRST; MAKING A CAREFUL PREFLT PLAN INCLUDING A COURSE HAND-DRAWN ON THE SECTIONAL CHART; WITH CAREFUL SEARCHING FOR SPECIAL USE AIRSPACE TO AVOID. SECOND; HAVING A DESIRE FOR EXCELLENCE AND PRECISION OF EVERY FLT; REGARDLESS OF HOW EASY THE FLT SEEMS.