Abstract: For analyzing the handling deviations of the lunar roving vehicle (LRV) when the astronauts driving it under the earth and lunar gravities， the inverse dynamical system of the LRV was established using the linear quadratic optimal theory， and the trajectory functions with the continuous curvature were deduced under the traditional condition. Then， when the astronauts drove the LRV in the same path under the different gravities， the handling inputs could be solved using the inverse system and trajectory functions. The calculation results show that， for moving in the same path under the different gravities， the astronauts when driving an LRV on the lunar surface need much faster handling speed， bigger handling amplitude， and more frequently handling conversion than driving on the earth. Therefore， it illustrates that the LRV on the moon is much more difficult to handle.

Key words: LRV(lunar roving vehicle), vehicle dynamics, inverse system, continuous curvature function, handling deviation