Yeah, it's called a Dubin's Curve, which will give you some more articles, also Motion Planning is another keyword to look for.
I've implemented a version of Marco Pinter's article, though I used vector operations for constructing the tangent lines.
You can see it here:
Though, that said, if you're just using it for missiles, you may want to have the missile detach from the firer (give it some small impulse), rotate towards it's target, then fire it's main thruster. (sort of like a guided mortar, or the homing rocket launcher from Half Life ), and then have it all driven by basic physics.