Systems and methods of unmanned aerial vehicle flight restriction for stationary and moving objects

An apparatus for controlling flight of an unmanned aerial vehicle (UAV), the apparatus comprising:

• one or more processors configured to:
• obtain information about a location of an object of interest;
• calculate, during operation of the UAV, a flight-restricted distance for the UAV to maintain relative to the object of interest, wherein the flight-restricted distance is calculated based on a safety factor, wherein the safety factor is determined based on an object classification;
• and
• control flight of the UAV to maintain the flight-restricted distance relative to the object of interest.

A method for controlling flight of an unmanned aerial vehicle (UAV), the method comprising:

• obtaining information about a location of an object of interest;
• calculating, during operation of the UAV, a flight-restricted distance for the UAV to maintain relative to the object of interest, wherein the flight-restricted distance is calculated based on (1) a communication delay between the object of interest and the UAV, or (2) a data acquisition delay at the object of interest in providing the information about the location of the object of interest;
• and
• controlling flight of the UAV to maintain the flight-restricted distance relative to the object of interest.