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In general, depth information is essential for navigating three-dimensional environments and for the consistent parameter calibration of the visual models. This work proposes a new solution, including depth information in the visual path-following (VPF) problem, which allows the variation of the perception horizon at runtime while forcing the coupling between optical and geometric quantities. A new NMPC (nonlinear model predictive control) framework considering the addition of a new input to an original solution for the constrained VPF-NMPC allows the maintenance of low computational complexity. Experimental results in an outdoor environment with a medium-sized commercial robot demonstrate the correctness of the proposal.<\/jats:p>","DOI":"10.1017\/s0263574723000553","type":"journal-article","created":{"date-parts":[[2023,5,2]],"date-time":"2023-05-02T09:48:00Z","timestamp":1683020880000},"page":"2552-2570","source":"Crossref","is-referenced-by-count":2,"title":["NMPC-based visual path following control with variable perception horizon"],"prefix":"10.1017","volume":"41","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8971-0687","authenticated-orcid":false,"given":"Tiago T.","family":"Ribeiro","sequence":"first","affiliation":[]},{"given":"Iago Jos\u00e9 P. B.","family":"Franco","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8124-6253","authenticated-orcid":false,"given":"Andr\u00e9 Gustavo S.","family":"Concei\u00e7\u00e3o","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2023,5,2]]},"reference":[{"key":"S0263574723000553_ref10","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2020.103497"},{"key":"S0263574723000553_ref30","first-page":"413","volume-title":"Mathematical Programming","author":"Spellucci","year":"1998"},{"key":"S0263574723000553_ref6","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574720001526"},{"key":"S0263574723000553_ref27","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-018-0896-3"},{"key":"S0263574723000553_ref13","doi-asserted-by":"publisher","DOI":"10.1016\/j.sysconle.2017.03.005"},{"key":"S0263574723000553_ref22","doi-asserted-by":"crossref","unstructured":"[22] Hu, Y. , Chen, Z. and Lin, W. . 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