Remotely controlled multirotor aerial vehicles have gradually become popular in recent years. There are many applications in society; however, owing to possible damage to surrounding objects during operation, the reduction in operating thresholds is an important issue in their development. In this paper, an automated control system for a multirotor aerial vehicle capable of self-stabilizing during flight and image-guided flight tracking was developed on the basis of an aerial image object tracking algorithm for the real-time transmission of images to a monitor through a wireless network. When combined with the tracking-learning-detector (TLD) object tracking algorithm, aerial images were captured by the smartphone mounted on the aerial vehicle and then transmitted to the ground station operator via the wireless network. Afterward, flight control information was sent back to the aerial vehicle.