Take a look at this simple sap.ui.core.routing.Router example it shows how to easily set up and use routes and a hash changer with an app Shell container.
sap.ui.core.routing is a javascript routes utilty, it handles URL changes and dispatches control based on pattern logic to views and event handlers, part of routing is HashChanger and History functionality.
if you are using the desktop shell this routing example with sap.ui.ux3.Shell
A lot of examples use jQuery.sap.history.js IMO it doesn't properly support bookmarks and has limited features which means you have to use it with other techniques