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

Table 4

Comparison of the moment when the vehicle starts to turn with the three methods.

Method	The moment when the vehicle starts to turn (s)
	Area (a)	Area (b)	Area (c)	Area (d)	Area (e)	Area (f)
Vector field	11.90	36.96	62.16	87.38	112.62	137.88
FC_PFC	12.34	37.30	62.56	88.10	113.36	138.62
PD_PFC	12.40	38.24	64.34	90.72	116.84	142.96