I need help to implement navigation stack without static map

edit

hi everyone , I'm working on a robot simulation package and i need to make the robot navigates to a set goal while avoiding the obstetrical, here i don't have map for the environment, so what I did I created a folder for the navigation stack with all the files for costmap, local, global , move_base .. etc and I set the configuration but still it looks like the robot doesnt move when i send a goal to it while i can move it using cmd_vel commands please I need a link for practical tutorials i can follow to achieve a successful navigation , i followed the one in ROS wiki but still some stuff not clear to me , because I'm still learning ros ,, thanks im working one ros kinetic and ubuntu 16