This paper focuses on getting optimised ship trajectories in narrow waterways under wind disturbances considering time as an objective function, i.e. the ship tends to sail by taking the optimised rudder output for minimum time manoeuvre. Non-linear programming (NLP) has been proposed to use with weighted sigmoid function as non-equality constraints to follow up the reference line if it is necessary. Problems with different boundary conditions and disturbance values have been investigated to justify the effectiveness of the proposed method. The problem regarding the initial value for the start-up of the optimisation process has also been resolved by applying a systematic technique for this method.

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