The autonomic nervous system (ANS) controls involuntary functions and has sympathetic and parasympathetic divisions. The sympathetic division prepares the body for emergencies via the "fight or flight" response while the parasympathetic division acts to conserve energy. The ANS has a two-neuron pathway from the CNS to effectors like glands and smooth muscle. It regulates functions like heart rate, digestion, and gland secretion to maintain homeostasis.