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?