We propose in this paper a new approach to solve the decision problem of robot-following. Different from the existing single policy model, we propose a multipolicy model, which can change the following policy in time according to the scene. 'e value of this paper is to obtain a multipolicy robot-following model by the self-learning method, which is used to improve the safety, efficiency, and stability of robot-following in the complex environments. Empirical investigation on a number of datasets reveals that overall, the proposed approach tends to have superior out-of-sample performance when compared to alternative robotfollowing decision methods. 'e performance of the model has been improved by about 2 times in situations where there are few obstacles and about 6 times in situations where there are lots of obstacles.