[RPG] How to deal with a player “teleporting” to the action

What you have is a clash of expectations. Your group likes to plan and strategize, she clearly doesn't (or rather, planning and strategizing is less important to her than playing this impulsive character). It's really important to articulate the expectations of play and you should do talk to her, and the group, directly, rather than create an NPC to try to block her character.

You'll notice if you look at other media or stories, there's a big difference between impulsive characters who TALK about jumping in, but don't actually do so, vs. those who DO and cause a lot of chaos.

If your group expectations are that everyone is mostly working together and only conflicting/at odds for show ("The elf and the dwarf are arguing again." "Oh, let them be, they're actually good friends.") and she is operating on the idea that each character might have very different agendas or less concern for the group, you're going to have clashes.

Being clear about what kind of game this is, helps her decide if this is the game she wants to play or not.

(There are some great answers here. I want to suggest that Bob's style can be reframed as a positive.)

Encourage growth in Bob's character's anti-authoritarianism

It seems to me that one way of thinking about Bob's anti-authoritarian style of play, is that the meaning of the anti-authoritarianism is not being woven into the game. Anti-authoritarianism comes in many flavors and historical/cultural contexts (e.g. punk and anti-facism, futurism, 21st century social anarchism, nihlism, DIY/DIT, etc.). While you have noted the my way or the highway action-hero style of Bob's playing, it is possible to encourage his growth and investment in anti-authoritarian motivations, philosophies, in-game allies and the like:

• Both the GM and Bob might benefit from one-on-one discussions investigating his character's motivations for anti-authoritarianism. This could even lead to developing story arcs that deepen, evolve or resolve the character's issues with authority. Maybe Bob might come to appreciate different approaches to anti-authoritarian play?

• The GM could introduce anti-authoritarian NPCs. Such characters could be introduced in a manner that dramatically highlights their screw-the-man! tendencies in a way that earns Bob's appreciation, while at the same time drawing tension with Bob's character because their philosophy, style, or motivation differ from Bob's character's own. For example, an anti-royalist anarcho-syndicalist NPC might scoff at Bob's anti-mutualist it's-all-about-me style, while Bob just thinks they way they oppose the Royal Court is the coolest thing. This pattern can also be inverted if, for example, Bob's character is deeply put off by, say, destroy-the-world style anti-authoritarianism his character may be forced to examine the uncomfortable ways his own methods and motivations align with some seriously evil nihlist's.

• The GM can embrace Bob's anti-authoritarianism as an ideal for NPCs to emulate. Bob's character's actions may have a broader social import that shapes the culture and plot of the game setting. For example, "Did you hear the news? That new group of fighters used a thermal detonator on Chief Wookiebusiness! We are finally out from underneath that bastard's grasp! Let's roll this into a coup of the corrupt regional boss Wookiemonster!"

Of course, Bob could be just a bad fit for your group... but optimism, hey?

Obligatory Monte Python & the Holy Grail quote:

Arthur: Well we all are! We are all Britons! And I am your king.
Woman: I didn't know we 'ad a king! I thought we were an autonomous collective.
Man: (mad) You're fooling yourself! We're living in a dictatorship! A self-perpetuating autocracy in which the working classes--