Mobile robots shall help and accompany us in the future in our everyday life. To do so, a robot has to navigate to specific locations, not always defined by its position but also by what one can find there. In this thesis, a possible approach to include semantic maps into navigational planning is Osnabrück was implemented. Normally, semantic maps are build using an ontology as a reasoning base. In this thesis, a database is connected with a topological graph to include semantic information in a map.