I feel here that the literal translation of "crew boat"is possibly not correct or cud be misleading in your context at least.
From the picture you can see it is quite substantial, certainly not a "lancha", and whilst this boat maybe used for ferrying "crew", it is also a general purpose work boat, it can carry both stores and personnel and spare parts out to ships or off shore instalations etc.
Whilst "barco de tripulaçao" is the literal correct, I wud go for something a bit more generic, if it fits yr context, like barco de trasporte, Teresa is close but I know the function, from personal experience, of these boats and they are not exclusivly used for people, they are a sort of general purpose work boat, but let u decide.