The method should allows only "0123456789abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ-" chars in URI strings.
The following regex will do the same thing as your algorithm. I'm not aware of libraries for doing this type of thing.
String s = input
.replaceAll(" ?- ?","-") // remove spaces around hyphens
.replaceAll("[ ']","-") // turn spaces and quotes into hyphens
.replaceAll("[^0-9a-zA-Z-]",""); // remove everything not in our allowed char set