Gyropilot, automatic pilot, boatheader, boatsteerer, cattleman, cicerone, courier, cowboy, cowgirl, cowhand, cowherd, cowman, cowpuncher, coxswain, dragoman, drover, gaucho, gooseboy, gooseherd, guide, guidepost, guider, helmsman, herd, herder, herdsman, hogherd, horse wrangler, horseherd, mercury, navigator, pigman, pilot, pointer, puncher, river pilot, sheepherder, sheepman, shepherd, shepherdess, steerer, steersman, swanherd, swineherd, tour director, tour guide, vaquero, waddy, wrangler

For further exploring for "goatherd" in Webster Dictionary Online