1. A method, comprising: creating an obstacle-free diagram using sensor data gathered from a topological sensor configured to detect obstacles within a surrounding environment; forming a graph from the obstacle-free diagram which corresponds to a driving path of the surrounding environment and recording the graph onto electronic memory of a computing device; transforming the graph using a processor of the computing device to apply discrete heuristic transformations to the graph; locally smoothing a plurality of edges of the graph using the processor after the transforming; and globally smoothing the graph using the processor after the locally smoothing.