For cities with ample access to rivers and canals it is possible to use them as an alternative to reduce the load on land transportation infrastructure such as bridges and roads. Traditional water-based transportation relies on the pilot to plan the trajectory and control the vessel, both of which depend on the experience of the pilot and are prone to human error. This thesis aims to address the generation of feasible trajectories and their tracking applied to autonomous electric boats for the transportation of people and goods on canals. The trajectory tracking is divided in two stages: path planning and velocity generation.