This paper introduces a method to generate autopilots for ship headings by using issues from the observation of control actions performed by human operators. The controller is designed based on fuzzy logic and uses triangular membership functions for the antecedent and consequent functions for Singleton type. For an automatic adjustment of the consequential, the recursive least squares method was used. This method is used to generate and validate the course driver of a 350-m tanker, at different load conditions.