Do I need encoders for a Bug 0 algorithm robot?

Hey guys, trying to make an autonomous bot that will find it's way out of a maze using the Bug 0 Algorithm. Do I need wheel encoders for this? I was thinking of the best way to know the location of my robot would be by tracking it's movement and creating a 2D coordinate system with that. Is it possible to do it without encoders?

Thanks!

Wheel encoders are the easiest way to know how far each wheel has traveled. Note that you will usually get some wheel slip especially when accelerating/decelerating/cornering so this won't give you a completely accurate position - the longer the course you're trying to record, the more impact these errors will have.