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This work discusses a control strategies to solve the target tracking problem for nonholonomic mobile robots, in our experiments we have considered two robots, a leader and a follower. The follower robot tracks a target (leader) moving along an unknown trajectory. It uses only stereovision to establish its both relative position and orientation to the target, so as to maintain a specified and a given distance between the two robots. Experimental results are included and discussed to show the performances of the proposed vision-based tracking control system.