Mobile robot docking task is a crucial and mandatory capability for service robots, especially for mobile robot systems, in order to maintain autonomous operations like battery charging or parts exchange. This paper addresses an image-based docking algorithm using visual servoing. In fact, some feature points are tracked in the image to produce the control inputs allowing the mobile robot to reach a target image, which is considered as the desired pose. Based on the image Jacobian, a proportional and a proportional-integral controllers are implemented and tuned. The main contribution of this work is the implementation of an experimental setup with a PI (Proportional-Integral) correction, which improves the accuracy and stability of the system. Experimental results demonstrate the effectiveness of this technique in achieving acceptable accuracy for docking operations.