In robotics, "person following" depicts the servoing of the relative situation of a robot w.r.t. a moving person. This property may be hard to achieve, especially when the estimation of the person ego-motion is weak (e.g., due to limited prior knowledge or computational resources). This paper introduces a nonholomic mobile robot controller, which ensures an intuitive and safe behavior through an insightful robot-centered problem statement. Under realistic bounded-error readings of hidden constant person velocities, ultimate boundedness of the state vector norm can be ensured in the neighborhood of its equilibrium.