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Although visual semoing is suitable for control of a mobile robot based on a single on-board camera image, wheeled vehicles have a non-holonomic property that the degree of freedom of the input is le33 than that of the configuration. T h w the visual semoing cannot be directly applied to a camera system fixed o n the vehicle. Furthermore there is no smooth and stable state feedback law for non-holonomic vehicle. To overcome these dificulties, we consider another situation that the pan angle of camera is actuated and used as an input of visual semoing. The desired state is given as not a constant value but a traject o y represented in terms of image sequences of a gazed object. Based on this idea, we propose a method of realizing "teaching and playback" for non-holonomic mobile robot. In the teaching mode, the robot gazes a landmark in the environment by a single on-board camera and stores its image sequences while running commanded by a human operator. In the playback mode, the robot t r a c b the desired trajectory with velocity commands for the vehicle and the pan angle for the camera determined from the stored and current images. W e discuss the convergence to a desired state and moreover point out an additional feedback term of a deviation of the pan angle w o r h t o improve the tracking performance. The eflectiveness of the proposed method is shown by illustrating computer simulation re-3Ult3.

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