The main research aspect behind this project was the problem in docking the ship to the port with limited space and resources available, causing number of onsite accidents and loss of resources. The main objective is to increase safety on ports, reduce pollution and increase fuel efficiency, also reduce the docking time for the vessels, which can be achieved by developing an autonomous docking system involving automated operations of tugboats, the port, and the vessel itself using control systems with limited involvement from human. This requires the development of a predictive control path for each component involved in the process. This is a long-term goal and requires a lot of research work and prototyping. In this thesis work, some studies will be carried out from past research work related to the problems focused on this project and the solutions provided to tackle these problems. Further data will be extracted along with all the essential equations and based on it; mathematical model will be developed as well as the development of path trajectory algorithm will be carried out. Also, its feasibility will be tested using simulation-based prototyping.