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A visual trajectory tracking problem is studied for mobile robot with velocity constraint by using model predictive control method incorporating the LOQO interior point method. Firstly, a discrete mobile robot error model is established under the eye-to-hand framework, and a cost function for the visual servo tracking of the mobile robot is given. Considering the existed velocity constraint problem for the mobile robot system, the minimization problem of the given cost function is transformed into a model predictive control problem with input constraints. Then, a barrier function method is used to transform the velocity constraint into equality constraint by using the Lagrange multiplier method. Furthermore, a LOQO interior point method is used to solve the minimization problem with velocity constraints, and a vision-based trajectory tracking controller is obtained. Finally, simulations verify the effectiveness and superiority of the proposed algorithm.