Recently, the robot industry has seen considerable amount of development in a wide range of robots, including pet robots and nursing care robots. However, robots that track and support specific people under all circumstances have not yet been developed. This paper proposes to create a welfare robot that tracks a specific person and provides him/her with personal care. In this research, we treated tracking systems to recognize and follow the targeted person. And compared with two trackers, KCF was more versatile than particle filter. However, since KCF also weakens the precision with shielding objects, we try to combine the detection equation of the particle filter, and try to take measures such as expanding the detection area when the target person is lost.