Which asteroid comes closer to the earth than any other?

The problem with naming a particular asteroid as the one that "comes closer than any other" is that we keep discovering new asteroids flying around that come even CLOSER. At one time, the asteroid "Eros" was the one described as coming closest, but that title may now go to the asteroid Apophis. Apophis will make a very close approach to the Earth on April 13 (Friday the 13th!) 2029, and again on April 13, 2036. The 2029 pass will bring Apophis closer to the Earth than many communications satellites!