Evasion of a fixed sphere by a dynamical object driven by a bounded force

A solution is obtained of the problem of synthesizing the control of the motion of a dynamical object (a point mass) evading a fixed spherical obstacle under the action of a bounded force. The set of all points for which evasion is possible is constructed in phase space (of arbitrary dimension), and control modes are constructed for bounded (fixed) and unbounded time intervals. The characteristics of the optimal motion, in particular, the time and minimum distance, are determined for specific initial data. The qualitative properties of the controlled motion are established.