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.

本文介绍了一种控制系统，允许一架无人机通过带有 ArUco 标签的一系列门进行自主飞行。使用了一种简单和低成本的 DJI Tello EDU 四轴飞行器平台。在制造商提供的 API 的基础上，我们创建了一个 Python 应用程序，使得通过 WiFi 与无人机通信，基于视觉反馈实现无人机定位，并且生成控制；提出了两种控制策略进行比较和分析，并测量了所使用的定位方法的准确性。应用程序在笔记本电脑（约为 40 fps）和 Nvidia Jetson TX2 嵌入式 GPU 平台（约为 25 fps）上进行了评估。我们在 GitHub 上提供了开发代码。