I purchased a Sea Eagle 12.6 SR Sports Runabout which you can buy directly off the internet. It performed perfectly. Of course you can camp from almost any kind of boat. But I chose an inflatable because: They can be hauled inside a car. They are very stable in the water. And they are not too expensive.

(Click the photo for more photos and details of how I rigged it up to be Solar powered.)
I pulled the Wave & Paddle board with a 50 foot nylon cord. My original reason for taking it was that I had some concern about the boat sailing away if I fell out. I hoped that I could swim to it and then pull myself up to the boat and turn the motor off.

I chose to use an electric motor and Solar power so that I would not be fuel bound. Most of what I have here is devoted to trying to convert you to the benefits of this type of power and show how I did it. I am not either an engineer or a carpenter, so consider this as a prototype for you to improve on.