Tracking displacement using polar coordinates

I am trying to track my electric vehicles displacement from the start using a 13bit absolute encoder that gives me the angle of the wheels relative to the chasis and a 13bit incremental encoder that gives me distance traveled. Is there any way to combine these two elements and find the displacement? Thanks

Steer front wheels to one side and the vehicle moves on a curve.

Your project will be far from easy to get accurate results.

Here is the theory for steering differential drive robots. http://rossum.sourceforge.net/papers/DiffSteer/

For Ackerman steering it is more difficult, but at least you should not have wheel slip to worry about.