Try to start up the Delaware at slack tide, then let the incoming tide boost you along to the C&D canal. Chesapeake City offers free dockage and it's a nice place to visit.
The Dismal Swamp Canal is very scenic. Hard to believe that George Washington
was one of its early proponents. The visitor center, about half-way down the canal, offers free overnight dockage. Depending upon the speed of your cat, you may be able to make the last lock opening of the day.
Elizabeth City is a great stop! Friendly people, free dockage, and nice town.
Have a safe and pleasant trip!