Work out wheel odometry distance instantly with clear inputs, formula shown and shareable results.
Odometry distance is revolutions times wheel circumference, where revolutions come from encoder counts divided by counts per revolution. Slip and wheel diameter error are the dominant error sources, and because both are multiplicative the error grows linearly with distance travelled.
Odometry
distance = (counts / counts per rev) x pi x wheel diameter, reduced by slip
Wheel diameter changes with load and wear, and slip is unmeasured. Errors integrate, so position uncertainty grows without bound unless corrected by an absolute reference.
By fusion with an IMU for heading and with absolute references such as lidar scan matching, fiducial markers or GPS.