First of all, let us factor the function is this manner - f(x) = x^{12} - x^9 + x^4 - x +1 = x^9( x^3 -1) + x( x^3-1) + 1 = (x^9 + x) (x^3 -1) + 1 = x(x^8 + 1) (x-1)(x^2 +x +1) +1.
Up to that point, it should all be obvious steps. Now, let us take those 2 linear terms to make one quadratic, and also take the other quadratic, and complete the square on both of them:
f(x) =(x^2 - x)(x^2+x+1)(x^8 +1) + 1 = \left( \left(x- \frac{1}{2}\right)^2 -\frac{1}{4} \right) \left( \left(x+\frac{1}{2} \right)^2 +\frac{3}{4}\right) (x^8 +1) + 1
From there, expand the first two brackets as such:
f(x) = \left[ ( x-\frac{1}{2})^2 \left( (x+\frac{1}{2})^2 + \frac{3}{4} \right) - \frac{1}{4} \left( (x+\frac{1}{2})^2 + \frac{3}{4} \right) \right] (x^8+1) + 1
To get the minimum value of the function, we first must find the minimum value of the terms in the square brackets; this means we want the first term to be as small as possible, and our second completed square to be as large as possible. For the positive term, the minimum value of the perfect square in [0,1] is 1/4, whilst the minimum value of the completed square is 1. Hence, their product can never be less than 1/4.
For the negative term, we maximize the completed square in [0,1] to to see our negative term has at most a magnitude of 3/4. Hence, the minimum value of the square brackets in -1/2. Since we want to subtract as much as possible, maximize the degree 8 term in (0,1). That term will always be less than 2. Hence we will always subtract less than 1 from the remaining constant term if x (0,1), and if we let x=0 and x=1 into f(x) we see that f(x) =1. And so f(x) will always be greater than zero in [0,1]
EDIT: Not only did I express that horribly, I'm certain there has got to be a more elegant way than that.