Circuitrocks

Micromouse-style maze bot. Quadrature encoders on both wheels for position tracking. Straight-line: accurate. But after 10+ turns, position estimate drifts 5-10cm off actual.

Sources I identified:

• Wheel slip on turns (encoders count but wheel spins)
• Wheel diameter tolerance (nominal 40mm, actual 39.7mm compounds over distance)
• Wheelbase measurement error affects turn angle

Adding an MPU6050 for heading fusion helps turns. But encoder distance still drifts.

Anyone run encoder + IMU fusion on AVR? Or is a maze bot better served by wall-following sensors than dead reckoning?