The invention discloses a robot and a target following obstacle avoidance method based on the same, a system, equipment and a medium. The target following obstacle avoidance method comprise the following steps: controlling the robot to acquire a target location of a followed target; determining whether obstacles are existent in the preset horizontal width range at two sides of a first connecting line of the current location and a target location of the robot, wherein the preset horizontal width is not less than a rotation semi-diameter of the robot; if the preset horizontal width is not less than the rotation semi-diameter of the robot, determining a transfer location, and the obstacles are inexistent in the preset horizontal width range at two sides of a second connecting line of the current location and the transfer location of the robot; controlling the robot to move to the transfer location, and continuously executing the step of controlling the robot to acquire the target locationof the followed target; if the preset horizontal width is less than the rotation semi-diameter, controlling the robot to move to the target location. The robot disclosed by the invention avoids the obstacle by moving to the transfer location when the obstacle is existent and moves to the target location until the obstacle is inexistent on the straight distance of the current location of the robotand the followed target, thereby following the target.