  In this paper, we present a control system that allows a drone to fly
autonomously through a series of gates marked with ArUco tags. A simple and
low-cost DJI Tello EDU quad-rotor platform was used. Based on the API provided
by the manufacturer, we have created a Python application that enables the
communication with the drone over WiFi, realises drone positioning based on
visual feedback, and generates control. Two control strategies were proposed,
compared, and critically analysed. In addition, the accuracy of the positioning
method used was measured. The application was evaluated on a laptop computer
(about 40 fps) and a Nvidia Jetson TX2 embedded GPU platform (about 25 fps). We
provide the developed code on GitHub.
