I'm having some art for a shield done and want to have some runes on it. The art idea I'm going with is having Midgard be the center boss with Yggdrasil wrapping around it and around the shield with runes signifying each of the nine worlds in Norse mythology. If anyone could show me what those runes would be it would be of great help. Just the runes that translate to each of their names would be nice if anyone can help. Thanks in advance!

There are no specific runes for the worlds, their names are simply written out like any other words.

So, look at any source that gives you the Old Norse spellings of the names - such as here, if you follow the links for each individual world - and then at some version of the Runic alphabet (depending on the specific time and region you're seeking to emulate) to find the Old Norse sign for each phoneme in the modern spelling. And there you go!

Well that's rather unfortunate actually as I have limited room on the shield so I'm not willing to take up all that room in runes so I'll probably just have to go with some symbolic runes that would make sense for a warrior to have for good fortune or something like that.

A shield with runes? That would be interesting.
How I wish we could read dead languages like Old Norse, which was written in the runic alphabet.

Then rejoice! For we can read Old Norse (and Proto-Norse etc.). There are plenty of e.g. runestones, carven memorials written in various runic alphabets, all over Scandinavia and even on the British Isles, and we can totally read them. :)

Yes, scandinavian runes totally not a problem. Ogham a little more tricky....