  In this paper, we consider a (rough) kinematic model for a UAV flying at
constant altitude moving forward with positive lower and upper bounded linear
velocities and positive minimum turning radius.For this model, we consider the
problem of minimizing the time travelled by the UAV starting from a general
configuration to connect a specified target being a fixed circle of minimum
turning radius.The time-optimal synthesis is presented as a partition of the
state space which defines a unique optimal path such that the target can be
reached optimally.
