# VFH+D: An Improvement on the VFH+ Algorithm for Dynamic Obstacle Avoidance and Local Planning

> Research article (IFAC-PapersOnLine, 2020) · cited 20× · AI/ML

**Wikidata**: [openalex:W3155139829](https://www.wikidata.org/wiki/openalex:W3155139829)  
**Source**: https://4ort.xyz/entity/vfh-d-an-improvement-on-the-vfh-algorithm-for-dynamic-obstacle-avoidance-and-local-planning