Well, (and this is what I intend to try on my current model - and I do mean TRY as I haven't done it before... I'd use two motors connected to one speed control. I'd have a seperate servo for the rudder (which he doesn't have in Modelboats, relying on motor control to steer...) Each motor would have it's power supplied through a 'microswitch' on one side of the steering servo so that at (for example) full turn to port, the port motor will be disconnected (in my case, will have a large resistance connected in series with it) to assist with the turn. You could even have the polarity switched to reverse the motor.
A I said, it's what I intend for the Freshwater model, I haven't tried it yet but the theory is sound, I think :?