5 Problem of stopping vessel at the waypoint for full-mission control autopilot

Nowadays, many ships are equipped with thrusters to support manoeuvring activities. By using these thrusters, the full mission autopilot can control vessel fully automatic from a quay to other quay.

During a voyage, the controlling vessel can be divided into 3 phases: sailing phase (when vessel runs at open sea); manoeuvring phase (when vessel runs in narrow and resisted water); transitional phase (when vessel changes from sailing mode to manoeuvring mode).