router.navigate

navigaterouter.navigate(fragment, [options])
Whenever you reach a point in your application that you'd like to save as a URL, call navigate in order to update the URL. If you also wish to call the route function, set the trigger option to true. To update the URL without creating an entry in the browser's history, set the replace option to true.

openPage: function(pageNumber) {
  this.document.pages.at(pageNumber).open();
  this.navigate("page/" + pageNumber);
}

# Or ...

app.navigate("help/troubleshooting", {trigger: true});

# Or ...

app.navigate("help/troubleshooting", {trigger: true, replace: true});