Future spintronic devices based on skyrmions will require precise control of the skyrmion motion. We show that this goal can be achieved through the use of magnetic antidot arrays. We perform micromagnetic simulations and semianalytical calculations based on the Thiele equation, where the skyrmion motion is driven by applied electric current via spin transfer torque (STT) or spin orbit torque (SOT) mechanism. For both torque mechanisms we demonstrate that an antidot array can guide the skyrmions in different directions depending on the parameters of the applied current pulse. Despite the fixed direction of the net driving current, due to the nontrivial interplay between the repulsive potential introduced by the antidots, the skyrmion Hall effect, and the nonuniform current distribution, full control of skyrmion motion in a 2D lattice can be achieved. Moreover, we demonstrate that the direction of skyrmion motion can be controlled by tuning only a single parameter of the current pulse, i.e., current magnitude.