No, this is a sample collection mission; the idea is for Hayabusa to return to Earth with samples from the asteroid Itokawa.
How big are these 'roids?
Itokawa is quite small; it's less than 1/2 mile in its longest dimension.
Where are they?
Here's a map:
The Wikipedia has a good page (currently, at least, it's always changing ;-) on the mission: http://en.wikipedia.org/wiki/Hayabusa
Also, here's a neat image of Itokawa spinning from a few days ago when Hayabusa was a bit further away:
