An　approach　based　on　autonomous　behavior　agent　of　lunar　rover　motion　planning　and　controlling　is　presented.　First,　based　on　the　autonomous　behavior　agent,　a　group　of　behaviors　is　designed,　and　its　theory　is　proven.　Then,　a　behavior　automata　is　used　for　behavior　coordination.　When　the　motion　planning　cannot　guarantee　the　rover　safety,　a　motion　planning　agent　is　invoked　to　learn　behavior　parameters,　which　are　then　memorized　by　a　neural　network.　At　the　same　time,　the　rover　behaviors　can　meet　both　constraints　of　rover　maneuverbility　and　lunar　terrain　transferbility.　The　approach　can　timely　plan　and　control　the　rover　in　an　unknown　world.　Simulation　and　experiment　results　are　shown　to　demonstrate　the　effectiveness　of　the　approach.