The paper describes of the Ryze Tello drone to move autonomously using a
basic vision system. The drone's position is determined by identifying
AprilTags' position relative to the drone's built-in camera. The accuracy of
the drone's position readings and distance calculations was tested under
controlled conditions, and errors were analysed. The study showed a decrease in
absolute error with decreasing drone distance from the marker, a little change
in the relative error for large distances, and a sharp decrease in the relative
error for small distances. The method is satisfactory for determining the
drone's position relative to a marker.Comment: Submitted to MMAR 2023 - 27th International Conference on Methods and
Models in Automation and Robotic