1. A method comprising: identifying, by a processor, a pedestrian space; generating, by the processor, a polygon from the pedestrian space; calculating, by the processor, skeleton lines for the polygon, wherein the skeleton lines for the polygon are generated through a translation of lines of the polygon inward using a predefined offset value; establishing nodes of the skeleton lines; removing, by the processor, a subset of skeleton lines leaving one or more center segments; generating, by the processor, a link node routing graph including the one or more center segments for the pedestrian space and one or more established nodes of the skeleton lines; and transmitting the link node routing graph to a personal navigation device.