target goal pose is not stable when using navigation2

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Hello, I am newbie in ROS using quadruped robot.

I use Unitree A1 and ROS2 navigation package for human tracking in isaac sim simulator.

An obstacle is placed between the robot and the person, and the robot uses a vision module to try to detect the person's location and its depth information using RGBD camera.

When there are no obstacles, the A1 uses the vision module to recognize the location and depth of the target and follow it well.

However, when there is an obstacle between A1 and a person, A1 initially recognizes the location and depth of the target using the vision module and tries to follow it well, but when A1 turns, the target pose bounces in a strange direction.

In this case, how can I solve this problem?

A1 navigation fail

Above is the link to the captured video, since I couldn't find a way to upload a video directly to a post.

Thank you!