The performance and power consumption are essential when designing and implementing embedded systems for flight control unmanned aerial vehicles (UAV). One of the main challenges that designers face is finding the balance between robust performance, small size and low power consumption. Additionally, in unfamiliar surroundings it is important that the UAV has a system of route planning, which allows determining the direction to a target. We evaluated três embedded microcontrollers based systems running a route planner in real time, which uses the algorithm of PSO optimization.