You can also try longing him over the poles- If he knows how to lunge. This may look messy in the beginning, but he will Quickly figure out what you want from him....start with 1 pole on a circle. At the trot.....be patient if he's anxious, fast or trys to drag you....stay with him and just keep bringing him back to that circle.When he finally goes over it nicely,( that could be a while) praise him, and stop that lesson ....go do something else fun with him. ... Next day, repeat until he is stepping over them without changing his rhythm, then praise and go work on something else...., Eventually you can add a second pole across the circle if he's doing great...still work at the trot. Again, When he is going over them calmly like they're just another stride, praise him and end the exercise. When he is confident and calm with the lunging sessions Then do this exercise on him in large circle! I would do this every day until he is bored and no longer so upset by poles!!
Just remember to reward him by ending the exercise sessions as soon as he shows signs of relaxing over them.that is key! Good luck