Unmanned aerial vehicle motor driving randomization for noise abatement

An unmanned aerial vehicle (UAV) comprising:

• one or more processors;
• and
• memory coupled to the one or more processors, the memory including one or more modules that are executable by the one or more processors to perform operations comprising:
• determining a flight control of the UAV, the flight control of the UAV including at least a heading and a velocity of the UAV;
• setting a first motor speed of a first motor of the UAV, wherein the first motor speed is based in part on the flight control of the UAV;
• generating a first random value within a randomization threshold, the randomization threshold based in part on the flight control of the UAV;
• determining a randomized motor speed by applying the first random value to the first motor speed;
• and
• causing the first motor of the UAV to operate at the randomized motor speed.

An unmanned aerial vehicle (UAV) comprising:

• one or more processors;
• and
• memory coupled to the one or more processors, the memory including one or more modules that are executable by the one or more processors to perform operations comprising:
• setting a motor speed of a motor of the UAV;
• generating a random value within a randomization threshold;
• determining a randomized motor speed by applying the random value to the motor speed;
• causing the motor of the UAV to operate at the randomized motor speed;
• and
• determining that the UAV is operating within a position threshold associated with a flight path.