Method for motor-powered application

A method for motor-driven docking with a ship (1), in particular a yacht, at a mooring point (2) in a mooring area is proposed, wherein in a map creation step an actual map of an environment of the mooring area is created, wherein in a mooring position determination step the mooring point (2) and a mooring position of the ship (1) at the mooring point (2) in the mooring area is determined; wherein in a trajectory planning step a desired trajectory (3) from an actual position of the ship (1) to the mooring position of the ship (1) is determined, wherein in a trajectory tracking step the ship (1) is controlled along the desired trajectory (3) in the direction of the mooring position.