Vector Field-Based Guidance for Planar Smooth Path Following of a Small Unmanned Helicopter

Table 3

Comparison of the flight time of each route with the three methods.

Method	The flight time of every section (s)
	Route BC	Route CD	Route DA	Route AB	Route BC
Vector field	25.06	25.20	25.26	25.24	25.26
FC_PFC	24.96	25.26	25.54	25.26	25.26
PD_PFC	25.84	26.10	26.38	26.12	26.12