Obstacle avoidance during target tracking

A system for controlling a movable object, comprising:

• one or more processors;
• and
• a memory storing one or more programs configured to be executed by the one or more processors to:
• obtain current location information of an obstacle while the movable object tracks a target;
• determine, based on the current location information of the obstacle, whether a location of the obstacle corresponds to a reactive region relative to the movable object;
• in response to determining that the location of the obstacle corresponds to the reactive region, adjust one or more movement characteristics of the movable object in a reactive manner to prevent the movable object from colliding with the obstacle;
• and
• in response to determining that the location of the obstacle does not correspond to the reactive region, adjusting the one or more movement characteristics of the movable object in a proactive manner to maintain a distance between the movable object and the obstacle to be larger than a predefined distance.

An unmanned aerial vehicle (UAV), comprising:

• a propulsion system;
• one or more sensors;
• and
• one or more processors individually or collectively configured to:
• obtain, using the one or more sensors, current location information of an obstacle while the UAV tracks a target;
• determine, based on the current location information of the obstacle, whether a location of the obstacle corresponds to a reactive region relative to the UAV;
• in response to determining that the location of the obstacle corresponds to the reactive region, adjust one or more movement characteristics of the UAV in a reactive manner to prevent the UAV from colliding with the obstacle is avoided;
• and
• in response to determining that the location of the obstacle does not correspond to the reactive region, adjust one or more movement characteristics of the UAV in a proactive manner to maintain a distance between the UAV and the obstacle to be larger than a predefined distance.