We've gone to Pelican Bar a couple of times now, for us as with other the getting there is a very important part of the day. We had a great guide and friend and a very reliable vehicle. We normally go to Paratee and have a drink at Basil's Bar before taking a short ride (10 or 15 minutes) across to Floyd's Pelican Bar.
I would recommend going, it is a day trip but normally you can do 2 or 3 things in one day.