This article presents the development of an autonomous navigation system for the intelligent sailboat Sensailor. This vehicle will be equipped with a Lidar and a camera for obstacle recognition. The recollected data will allow the sailboat to register the obstacle coordinates and determine the zones for safe navigation. Based on that, the intelligent system will apply AI algorithms for path planning, in order to get the shortest safe trajectory. This way, it will be guaranteed that the Sensailor can translate from an initial to a target position while optimizing time and resources.