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In order to reduce the cost of shrimp pond breeding and achieve uniform delivery of bait，a self-guided feeding boat based on paddle wheel drive was designed. The paddle-driven shrimp pond feeding boat can adapt to the complex environment of the breeding pond and meet the requirements of the whole pond throwing. Reliability was the key to its application. Fully enclosed feeding hull was designed by rotomolding process. Oil-free lubricating stainless chain and paddle wheel were used as driving mechanism to avoid pollution to pond water. Spiral bait conveying device met the requirements of stable barycenter position in the process of boat-borne bait delivery. The requirements of autonomous navigation，positioning and attitude control were realized through GPS and electronic compass. According to the feeding and control performance requirements of shrimp ponds，the feeding boat straight and spot turning motion model was constructed，and the cruise path control was carried out by PID heading and speed motion control algorithm. The results of the aquaculture pond test showed that the average speed was 0.72m/s，and the maximum yaw amount of the autonomous navigation feeding boat based on the paddle wheel drive was 0.8m and 0.5m when going straight and turning， respectively. The 40 day aquaculture pond field test results showed that the self-guided feeding boat ran smoothly under complicated path and met the feeding requirements of shrimp ponds. Fully reliability tests were carried out on harsh environments such as strong winds，heavy rains，and related problems were found and solved，enabling it to be promoted and applied.