Neurophysiological　studies　have　shown　that　the　hippocampus,　striatum,　and　prefrontal　cortex　play　different　roles　in　animal　navigation,　but　it　is　still　less　clear　how　these　structures　work　together.　In　this　paper,　we　establish　a　navigation　learning　model　based　on　the　hippocampal-striatal　circuit　(NLM-HS),　which　provides　a　possible　explanation　for　the　navigation　mechanism　in　the　animal　brain.　The　hippocampal　model　generates　a　cognitive　map　of　the　environment　and　performs　goal-directed　navigation　by　using　a　place　cell　sequence　planning　algorithm.　The　striatal　model　performs　reward-related　habitual　navigation　by　using　the　classic　temporal　difference　learning　algorithm.　Since　the　two　models　may　produce　inconsistent　behavioral　decisions,　the　prefrontal　cortex　model　chooses　the　most　appropriate　strategies　by　using　a　strategy　arbitration　mechanism.　The　cognitive　and　learning　mechanism　of　the　NLM-HS　works　in　two　stages　of　exploration　and　navigation.　First,　the　agent　uses　a　hippocampal　model　to　construct　the　cognitive　map　of　the　unknown　environment.　Then,　the　agent　uses　the　strategy　arbitration　mechanism　in　the　prefrontal　cortex　model　to　directly　decide　which　strategy　to　choose.　To　test　the　validity　of　the　NLM-HS,　the　classical　Tolman　detour　experiment　was　reproduced.　The　results　show　that　the　NLM-HS　not　only　makes　agents　show　environmental　cognition　and　navigation　behavior　similar　to　animals,　but　also　makes　behavioral　decisions　faster　and　achieves　better　adaptivity　than　hippocampal　or　striatal　models　alone.