  Automated docking technologies of marine boats have been enlightened by an
increasing number of literature. This paper contributes to the literature by
proposing a mathematical framework that automates "trailer loading" in the
presence of wind disturbances, which is unexplored despite its importance to
boat owners. The comprehensive pipeline of localization, system identification,
and trajectory optimization is structured, followed by several techniques to
improve performance reliability. The performance of the proposed method was
demonstrated with a commercial pontoon boat in Michigan, in 2023, securing a
success rate of 80\% in the presence of perception errors and wind disturbance.
This result indicates the strong potential of the proposed pipeline,
effectively accommodating the wind effect.
