Localization of A Omni-Directional Robot

[vrcprogrammer]

Originally Posted by "cad321"

The biggest issue with this method is wheel slippage. Say I accelerate to quickly, or I get into a pushing match and my wheels start to spin because they lost traction. All of a sudden my robot thinks it's 5 feet further forward than it actually is. By getting feedback from unpowered wheels or a laser, you know that whatever movement you detect should in theory be the exact actual movement of your robot.

This is the exact reason I am trying to use the follower wheels, but I would like a way to use the gyro/ultrasonics, to check the data, is this needed, or are the followers accurate enough?