Note that there are 3 possibilities for the boat when going in either direction: 1 adult, 2 children or 1 child. Except for maybe the last crossing, we will only allow 1 adult or two children to cross and 1 child to come back, because all other possibilities just cancel one of previous moves and hence will certainly not help in getting the least possible amount of one-way trips.
So consider
$\alpha$: 2 children cross, 1 child comes back,
$\beta$: 1 adult crosses, 1 child comes back.
Denote by $A_1$ and $C_1$ the number of adults resp. children on the starting side and by $A_2$ and $C_2$ the number of adults resp. children who got across the river. Then $\alpha$ will result in:
$$A_1\rightarrow A_1, C_1\rightarrow C_1-1, A_2\rightarrow A_2, C_2\rightarrow C_2+1.$$
On the other hand, move $\beta$ gives
$$A_1\rightarrow A_1-1, C_1\rightarrow C_1+1, A_2\rightarrow A_2+1, C_2\rightarrow C_2-1.$$
Since in particular we have to move all adults across the river, checking what happens to $C_1$ and $C_2$ implies that to do $x$ times $\beta$, you also need to do $x$ times $\alpha$. So suppose we have $A$ adults and $C$ children to start with, then among the moves we need $A$ times $\beta$ and $A$ times $\alpha$. These moves result in
$$A_1\rightarrow A_1-A, C_1\rightarrow C_1, A_2\rightarrow A_2+A, C_2\rightarrow C_2.$$
After that (or in between) you still need to get the remaining children across the river, which is only possible by subsequent applications of $\alpha$ and 1 last crossing with only the last child.
Noting that both $\alpha$ and $\beta$ take two one-way trips, we conclude: If you want to bring $A$ adults and $C$ children across the river, you need $4A+2C-1$ one-way trips.