<p>This paper proposes a novel marker-based target following framework that takes into account the limited field of view (FOV). Once a target is outside the FOV of the camera, it is generally not easy to track the target again. Therefore, a robot should be controlled to ensure that the target is always within the FOV to avoid missing the target. In the proposed method, the robot first continuously tracks the path traversed by the target with a camera at regular time intervals. Next, the robot calculates the FOV constraint by considering the current position of the target and the FOV. Then the robot selects the appropriate waypoint from the tracked path of the target using the FOV constraint. Finally, the robot moves to the waypoint using the longitudinal and lateral controllers and iterates the above actions until the following mission is completed. The proposed method has advantages in target following, especially in areas where the target can be easily deviated from the FOV, such as corner sections. The effectiveness of the proposed method is validated by simulation and real-world experimental results, which show that the stability of target following is improved and the risk of collision is reduced.</p>