Applications of unmanned aerial vehicles (UAVs) are increasing enormously. The control and stabilization of those UAVs are challenging, especially in case of applications like tracking. We developed a similar UAV (referred to as ‘a quadcopter’ in the manuscript) application such that it tracks the movement of the ball thrown in the air and then hits the ball when it reaches a certain altitude. Our quadcopter is based on the YMFC-AL project and is cost-effective while yet providing good flight performance. The experiment is performed indoors, and the ball tracking is done with the help of an overhead camera. The data from the camera is sent to the quadcopter with Wi-Fi for taking the necessary tracking action. A PID controller is used for the stabilization of the quadcopter at the desired location and smooth tracking. The extended version of this project can be instrumental in applications like suspect tracking in the crowd, where many live tracking and control actions are required.