Controlling the heading direction of a mobile robot with visual feedback.

Hi. I am currently working on a project regarding the movement control of a mobile robot. At this point, I have a working code on MATLAB that gives the current position and the heading direction of the robot with the help of a camera attached to the ceiling of the lab. Now i want to move the robot in a certain direction or to a point in the visual range of the camera. Can anybody please help me in this regard?

P.s. I am using rf24L01+ modules for communication between the pc and the arduino attached on the robot.