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  1. Difficult, as the sails would take a lot of adjustment.

    Is the path upwind and downwind? any directly up wind?

    If you have to tack, then you have to change sail angles a lot.

    You would need a fairly smart computer to do all the calculations, and an inertial guidance system, wind speed and direction indicators, water speed and direction, sail angle readout, and sail angle controls, and rudder controls.

    Just saw you say “without using a rudder” !! impossible. You can’t control even a power boat without a rudder.

    .

How could a wind powered boat be autonomously steered in a curved path without using a rudder?

The boat must be propelled with a flettner rotor or sails and can have no outside controls.