In order to realize the automatic following of human body, an intelligent wheeled robot based on the dynamic behavior of human body was designed.STM32F103CET6 was used as the core processor,the fourwheel driving method was used,combined with a variety of sensors, the robot had the functions of intelligent following, obstacle avoidance, wireless remote control, and so on.The angle information of the handheld controller was obtained by angle sensor, the distance between the handheld controller and the robot was obtained by using the ultrasonic distance sensor, then the orientation information between the handheld controller and the robot was obtained, the dynamic behavior of the human body was acquired, the fourwheel speed of the robot was controlled by PID control algorithm, and the distance between the handheld controller and the robot and the angle of the handheld controller could be accurately followed by the robot. The following experiment shows that the system has strong stability, the tracking mean absolute error is 3.9 cm, and it can follow the target accurately and flexibly.