A method of generating a route in an open environment, the method comprising: receiving an indication of a start location based on first user input applied to a user interface of a navigation device ; receiving an indication of an end location based on second user input applied to the user interface of the navigation device; determining a navigation chart that includes both the start location and the end location, wherein the navigation chart comprises: a first barrier ; a plurality of first navigation nodes disposed at a first predetermined distance from the first barrier; a plurality of second navigation nodes disposed within a first threshold distance range, wherein the first threshold distance range includes a minimum distance from the first barrier that is greater than the first predetermined distance; a first plurality of potential route segments, PRSs , that extend between two first navigation nodes or between a first navigation node and a second navigation node, wherein each of the first plurality of PRSs extend a first distance; and a second plurality of PRSs that extend between two second navigation nodes, wherein each of the second plurality of PRSs extend a second distance, wherein the second distance is greater than the first distance; and generating a navigable route between the start location and the end location, wherein the navigable route includes at least one of the first plurality of PRSs or at least one of the second plurality of PRSs. receiving an indication of a start location based on first user input applied to a user interface of a navigation device ; receiving an indication of an end location based on second user input applied to the user interface of the navigation device; determining a navigation chart that includes both the start location and the end location, wherein the navigation chart comprises: a first barrier ; a plurality of first navigation nodes disposed at a first predetermined distance from the first barrier; a plurality of second navigation nodes disposed within a first threshold distance range, wherein the first threshold distance range includes a minimum distance from the first barrier that is greater than the first predetermined distance; a first plurality of potential route segments, PRSs , that extend between two first navigation nodes or between a first navigation node and a second navigation node, wherein each of the first plurality of PRSs extend a first distance; and a second plurality of PRSs that extend between two second navigation nodes, wherein each of the second plurality of PRSs extend a second distance, wherein the second distance is greater than the first distance; and a first barrier ; a plurality of first navigation nodes disposed at a first predetermined distance from the first barrier; a plurality of second navigation nodes disposed within a first threshold distance range, wherein the first threshold distance range includes a minimum distance from the first barrier that is greater than the first predetermined distance; a first plurality of potential route segments, PRSs , that extend between two first navigation nodes or between a first navigation node and a second navigation node, wherein each of the first plurality of PRSs extend a first distance; and a second plurality of PRSs that extend between two second navigation nodes, wherein each of the second plurality of PRSs extend a second distance, wherein the second distance is greater than the first distance; and generating a navigable route between the start location and the end location, wherein the navigable route includes at least one of the first plurality of PRSs or at least one of the second plurality of PRSs. <EOS>