This paper presents a new adaptive autopilot for ships based on the Adaptive Neural Networks. The proposed adaptive autopilot is designed with some modifications and improvements from the previous studies on Adaptive Neural Networks by Adaptive Interaction (ANNAI) theory to perform course-keeping, turning and track-keeping control. A strategy for automatic selection of the neural network controller parameters is introduced to improve the adaptation ability and the robustness of new ANNAI autopilot. In Part II of the paper, to show the effectiveness and feasibility of the proposed ANNAI autopilot, computer simulations of course-keeping and track-keeping tasks with and without the effects of measurement noise and external disturbances will be presented.