NEO asteroid 2013 KB will come within 3.2 Earth-Moon distances of us, with the closest approach of the 16 meter dimaeter asteroid on May 22 06:05 UT.
This is a Southern Scope asteroid, as it passes through Centaurus and Cricinus. It will be a difficult object to follow, not getting brighter than magnitude 18.5.
While at 3.2 LD away, paralax is not too big an issue, but it is still moving relatively fast, and the asteroid tracking may not work.
Close up chart of 2013 KB for 22-23 May, tick marks are every 1 hour. The large rectangle is the field of view of T12 and small rectangle is the field of view of T9. Note the parallax difference between the calculated position and the orbit. Click to embiggen.
To catch it, it's best to choose a star not far from where the asteroid would be (best use on a topocentric ephemeris, as there is still significant parallax), and set that as the target, then wait for the asteroid to zoom by.
Remember that it can take up to 5 minutes for the telescopes to slew to the imaging position, so you have to allow for this in your timing.
Up to date orbital information from the MPEC ephemeris generator is best. If you enter the observatory code for SSO - Q62 it will create a topocentric ephemeris for Siding Spring.