Fully autonomous robot for room environment

[yatinec]

I want to build a fully autonomous robot for any unknown room environment.
I have collision avoidance algorithm but i don't know how to estimate robot position. I think of using gyro,accelerometer and shaft encoding. does this work accurately?

[subot_robot]

None of them will accurately.

Shaft encoders can measure how much wheel has rotated. But it cannot detect wheel slippage, and because of this error will start accumulating as robot travels farther.

Accelerometer is not good enough to detect very small change in acceleration which is the case with low speed robot. So it will be difficult to determine distance moved based on variation of acceleration of robot.