Summary This paper presents different methods for controlling the "steering behaviors" of characters in an autonomous environment. It attempts to solve the problem of giving a character the ability to navigate around the world in a life-like and improvisational manner. The authors discuss the middle level of steering behaviors, lower level locomotion, and higher level goal setting. Key Ideas * The locomotion layer of the behavioral hierarchy converts control signals from the steering layer into motion of the character's body and can be based on its animated portrayal. * There are several definitive types of steering behavior implemented by the system: (1) Seek, acts to steer the character towards a specified position in global space. (2) Flee, steers the character so that its velocity is radially aligned away from the target. (3) Pursuit, similar to seek but the 'position' is actually another moving character. (4) Evasion, steers the character away from the predicted future position of the target character. (5) Offset pursuit, steering a path which passes near, but not directly into a moving target. (6) Arrival, similar to seek but with variable velocity of the character that decreases, and eventually ceases, as the character approaches the target. * Other steering behaviors include Obstacle Avoidance, Wander, Path Following, Wall Following, Flow Following, Unaligned Collision Avoidance, Separation, Cohesion, Alignment, and Leader Following.