The main target of this project is to build an autonomous boat which can navigate through a simultaneously created map or a given one. The development of this boat was made possible through a cooperation with the Miniatur Wunderland Hamburg. A Framework used entirely throughout our project is the Robot Operating System (ROS). It offers support for all sensors and actors used in this project and enables an easy method for remote logging and distributed processing. We created a modular, scalable and functional base for a completely autonomous ship.