We investigated the nature of the control mechanisms at work during goal-oriented locomotion. In particular, we tested the effects of vision, locomotor speed, and the presence of via points on the geometric and kinematic properties of locomotor trajectories. We first observed that the average trajectories recorded in visual and nonvisual locomotion were highly comparable, suggesting the existence of vision-independent processes underlying the formation of locomotor trajectories. Then by analyzing and comparing the variability around the average trajectories across different experimental conditions, we were able to demonstrate the existence of on-line feedback control in both visual and nonvisual locomotion and to clarify the relations between visual and nonvisual control strategies. Based on these insights, we designed a model in which maximum-smoothness and optimal feedback control principles account, respectively, for the open-loop and feedback processes. Taken together, the experimental and modeling findings provide a novel understanding of the nature of the motor, sensory, and "navigational" processes underlying goal-oriented locomotion.