In this article, we study the orbital dynamics with the gravitational potential of the asteroid 93 Minerva using an irregular shape model from observations. We calculate its physical size, physical mass, surface height, and zero-velocity surface. Meanwhile, we recognize that there are five equilibrium points around Minerva, four of which are external, and one is internal. Two of the external equilibrium points are stable and near the y-axis, while two external equilibrium points are unstable and near the x-axis. In addition, we study the changes in the number, position, and topological case of the equilibrium points when changing the spin speed and the density. We calculate the gravitational force acceleration of the polyhedron model, and we back up our calculations by simulating the orbit of one moonlet under the gravitational force acceleration of Minerva. With the simulation result, we demonstrate the existence of stable orbits around Minerva.