Semi-autonomous navigation of an unmanned ground vehicle for bird expellant in an airport

Birds inhabiting an airport are recognized as a risk factor to aviation safety. Even though several methods and equipment has been contrived for the bird expellant, their effectiveness and durability are limited. In this paper, we present a semi-autonomous unmanned ground vehicle as a bird expellant in an air port. The designed UGV has three mounted laser range finders, four video cameras, and a digital GPS for semi-autonomous navigation. This paper describes the control and navigation scheme and proposes a path generation algorithm using the clothoid curve, which generates a smooth path through a manually defined waypoint.