Noli navigare regina invita

Hi all!

I’m trying to translate a sentence to mean something like “Don’t navigate without asking for the queen’s permission” or “For you to navigate, ask for the queen’s permission” and I want to keep it the shortest so I came up with a few ideas I’d like you to provide any inputs, comments, suggestions or corrections on:

Noli navigare regina invita
Ut naviges regina roganda
Ut naviges reginam roga

I was confused if rogare is used wih accusative or ablative also, since by “te rogo” e.g....

Noli navigare regina invita