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There are countless ways to do this but I'd go with optical encoders. There proven and very accurate. Sure if your wheels slip then they lose all accuracy but there are ways of telling if your wheels slip. In the past teams have measured the current draw of the motors. If your bot collided with another bot your amps would suddenly increase because the motors are having to output alot of power. Then if you overwhelmed and the wheels slip the crrent will drop because the kinetic COF friction is less that the static so once your wheels start to slip there will less draw on the motor. Also there should be a noticeable change in current when you hit the ramp.
It may take some experimentation to figure out what can be done with current draw but its a possibilty. Saying that though no system will be 100% accurate. If a 300billion dollar defense budget can only get a bomb within 10 feet of a target. I predict even the best guidance system will only get a bot within a foot of its target.
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