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The minimum-time path for intercepting a moving target with a prescribedimpact angle is studied in the paper. The candidate paths from Pontryagin'smaximum principle are analyzed, so that each candidate is related to a zero ofa real-valued function. It is found that the real-valued functions or theirfirst-order derivatives can be converted to polynomials of at most fourthdegree. As a result, each canidate path can be computed within a constant timeby embedding a standard polynomial solver into the typical bisection method.The control strategy along the shortest candidate eventually gives rise to thetime-optimal guidance law. Finally, the developments of the paper isillustrated and verified by three numerical examples.

Time-Optimal Guidance for Intercepting Moving Targets with Impact-Angle Constraints