A computer-implemented method for determining a target direction for an unmanned aerial vehicle, (UAV), comprising: providing an image on a computer-implemented display; obtaining a position of a selected point on the image when a user selects the point on the image; determining the target direction based on the position of the selected point on the image; generating a motion path for the UAV from an initial position to a reference point based on one or more first motion characteristics of the UAV at the initial position and one or more second motion characteristics of the UAV at the reference point , wherein the motion path is represented by a function of the initial position, the reference point , and the one or more first motion characteristics of the UAV at the initial position and the one or more second motion characteristics at the reference point , wherein the motion path is curvilinear; effecting movement of the UAV along the motion path between the initial position and the reference point ; and effecting movement of the UAV in the target direction from the reference point , the method characterized in that the target direction is defined by a first tangent to the motion path at the reference point , and wherein a second tangent to the motion path (934, 1034 1134) at the initial position and the first tangent are in different directions, wherein an orientation of the UAV continuously changes along the motion path with the orientation of the UAV at the initial position being different from the orientation of the UAV at the reference point , wherein a head portion of the UAV faces the target direction at the reference point . providing an image on a computer-implemented display; obtaining a position of a selected point on the image when a user selects the point on the image; determining the target direction based on the position of the selected point on the image; generating a motion path for the UAV from an initial position to a reference point based on one or more first motion characteristics of the UAV at the initial position and one or more second motion characteristics of the UAV at the reference point , wherein the motion path is represented by a function of the initial position, the reference point , and the one or more first motion characteristics of the UAV at the initial position and the one or more second motion characteristics at the reference point , wherein the motion path is curvilinear; effecting movement of the UAV along the motion path between the initial position and the reference point ; and effecting movement of the UAV in the target direction from the reference point , the method characterized in that the target direction is defined by a first tangent to the motion path at the reference point , and wherein a second tangent to the motion path (934, 1034 1134) at the initial position and the first tangent are in different directions, wherein an orientation of the UAV continuously changes along the motion path with the orientation of the UAV at the initial position being different from the orientation of the UAV at the reference point , wherein a head portion of the UAV faces the target direction at the reference point . <EOS>