Smart cities are the next step in human habitation. In this context the proliferation of sensors and actuators within the Internet of Things (IoT) concept creates a real opportunity for increasing information awareness and subsequent efficient resource utilization. IoT-enabled smart cities will generate new services. One such service is the waste collection from the streets of smart cities. In the past, waste collection was treated with static routing models. These models were not flexible in case of segment collapse. In this paper we introduce a semi-static and dynamic shortest path routing model enhanced with sensing capabilities through the Internet connected objects in order to achieve effective waste collection.