The invention belongs to the crossing field of computer vision and intelligent robot, and discloses a new multi-feature multi-sensor method for a mobile robot to track a moving body. The method comprises the following steps: 1, coarsely positioning a body carrying a passive tag around a radio frequency identification (RFID) system by using the RFID system; 2, initially positioning the body in an image by using an adaptive template matching algorithm based on head and shoulder features; 3, accurately positioning the body in the image by using a multi-feature-based mean-shift algorithm; 4, predicting the moving state of the body by using a extended Kalman filter algorithm; 5, screening the acquired target position information by using a double-layer collaboration positioning mechanism; and 6, controlling the robot to move along with the body by using a robot following control algorithm. By the method, bodies with different poses can be tracked, the problem that the tracking is influenced when a target suddenly turns and is shielded is solved, and the robot can accurately, stably and continuously track the moving body.