The problem of intercepting a target moving along a prescribed trajectory by a Dubins car is stated and formalized as a time-optimal control problem with an arbitrary car velocity direction at the interception. The conditions available in the literature under which the optimal trajectory is a geodesic line drawn from the initial position of the car to the interception point are refined. Algebraic equations for calculating the optimal interception time are obtained. The optimal control is synthesized based on these equations. A software module is developed for constructing the optimal car trajectories for various target trajectories.
