Minimum-time lateral interception of a moving target by a Dubins car

This paper presents the problem of lateral interception by a Dubins car target that moves along an priori known trajectory. trajectory is given two coordinates planar location and one angle heading orientation, every them continuous function time. The optimal planning constructing minimum-time trajectories for in presence priory time-dependent wind vector field special case presented problem. Using properties three-dimensional reachable set car, it proved point belongs to part analytically described surface space. analytical description makes possible obtain 10 algebraic equations calculating parameters control implements interception. These are generally transcendental can be simplified particular cases motion (e.g. resting target, straight-line uniform motion). Finally, some validate developments highlight necessity consider each general case.