Boat and control method for same

A boat comprising:

• a boat body;
• a propulsion device disposed in the boat body and that generates a propulsion force to move the boat body;
• a positional sensor that detects a current position and a current bearing of the boat body and outputs position information indicating the current position and the current bearing;
• and
• a controller configured or programmed to:
• receive the position information;
• determine a first target position of the boat body and a target bearing in the first target position;
• calculate a bearing difference between the current bearing and the target bearing;
• determine an offset amount of the first target position in response to the bearing difference or an outside disturbance;
• determine a position spaced away by the offset amount from the first target position on a side toward the current position, as a second target position;
• and
• generate an instruction signal to control the propulsion device to cause the boat body to arrive at the second target position.

A control method for a boat comprising:

• receiving position information indicating a current position and a current bearing of a boat body;
• determining a first target position of the boat body and a target bearing in the first target position;
• calculating a bearing difference between the current bearing and the target bearing;
• determining an offset amount of the first target position in response to the bearing difference or an outside disturbance;
• determining a position spaced away by the offset amount from the first target position on a side toward the current position, as a second target position;
• and
• generating an instruction signal to control a propulsion device mounted in the boat body to cause the boat body to arrive at the second target position.