At first, in order to obtain the manoeuvrability and response to wind, waves and oblique current, various experiments on a 1.3m self-propelled model of passenger ship were carried out in the circulating water channel. Utilizing these values, the optimal control system of this model, which reduces the following integral to a minimum, was analysed. I =∫ ^t_t0 {γ₁ (Δη) ²+γ₂ (Δθ) ²+δ²} dt where Δη : trajectory error Δθ : azimuth error δ : helm angle γ₁, γ₂ : coefficients t : time Moreover, the experiments of optimal automatic navigation on settled route with this ship model were performed by use of above calculated value in calm water, wind, waves and oblique current, in circulating water channel.