This paper proposes a multi-camera visual pre- dictive control strategy for a mobile manipulator allowing to position the end-effector camera with respect to a landmark. Several issues are considered: (i) the visual landmark possible loss during navigation, (ii) the realization of large displacements which implies a large prediction horizon and impacts the closed- loop stability, (iii) the robot’s high redundancy which may lead to a large search space and potential non-relevant solutions, (iv) the processing time. To cope with these challenges, the proposed strategy relies on (i) the use of two complementary cameras, (ii) the definition of a cost function depending on both the vision-based task and the manipulability, (iii) the integration of constraints allowing to prioritize the former against the latter. The strategy has been simulated and compared using ROS and Gazebo, showing its efficiency.