A six-layered architecture for behavior control, consciousness-based architecture (CBA), is developed to link symbolic behaviors to low-level behaviors such as reflex action, detour and pursuit. This architecture makes possible behaviors categorized in "use of media" in parallel with running low-level behaviors. Two emotion-valued criteria are given for vertical and horizontal behavior selection. While a level of behavior is chosen to maximize the consciousness intensity, a behavior at the level chosen is selected to increase the pleasure. In CBA, the obstruction of behavior triggers the elevation of the level of consciousness. Computer simulation successfully shows symbolic detour of an obstacle and enclosure of a prey by three creatures predicting the positions of mates, a prey and an obstacle. CBA also shows its advantage over a Q-learning technique for the obstacle detouring problem.