Controlling and steering autonomous vessels in marine environment is a significant challenge, particularly due to the lack of robust adaptive control strategies. This study addresses this gap by using a combination of self-propelled model testing and advanced control algorithms to evaluate and improve the maneuverability of autonomous vessels. Through simulation and experimental validation, a comprehensive scheme for evaluating the dynamic performance of autonomous vessels under different operating conditions is developed. The results provide a foundation for the integration of adaptive control strategies that improve the stability and response of autonomous vessels, enabling safer and more efficient operation in dynamic maritime environments. This research contributes to the development of autonomous marine technologies by providing practical solutions for optimizing ship control and navigation in challenging environments.