Dubins vehicle interception of a moving target

In this work we examine the problem of intercepting a moving target with a pursuer that only moves forwards in constant speed and whose radius of turn is bounded from below. We assume that the target is moving in a straight line with constant speed and the target's velocity is known to the pursuer with no measurement error. We analyze both the problem of minimum-time interception, as well as the problem of interception at a predefined time. We establish lower and upper bounds on the minimum time to interception that are easy to compute. We examine the relation between shortest paths and minimum time interception paths, we give conditions for the two types of paths to coincide and show cases where they differ. Finally, we propose two algorithms for the elongation of an admissible path and examine the algorithms' property of continuity. All of the above analysis is also conducted in scenarios where the target is located near or inside the pursuer's minimum turning radius.