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This paper presents a novel semi-autonomous navigation strategy designed for low throughput interfaces. A mobile robot (e.g. intelligent wheelchair) proposes the most probable action, as analyzed from the environment, to a human user who can either accept or reject the proposition. In case of refusal, the robot will propose another action, until both entities agree on what needs to be done. In an unknown environment, the robotic system first extracts features so as to recognize places of interest where a human-robot interaction should take place (e.g. crossings). Based on the local topology, relevant actions are then proposed, the user providing answers by the mean of a button or a brain-computer interface (BCI). Our navigation strategy is successfully tested both in simulation and with a real robot, and a feasibility study for the use of a BCI confirms the potential of such interface.