ABSTRACT
The berthing process can be divided in two natural phases. During the first one, or “approach”, the vessel navigates from a starting point to the berthing area, progressively decreasing its speed to zero value at the final point. During this phase the vessel behaves similarly to a conventional ruddersteered ship. As a consequence, the two waterjets will be modelled during this phase as having the same deflection angle and thrust, working in all respects as if they were a single unit.
