I'm attempting to control a small vehicle at relatively slow (.5 m/s - 1 m/s) speeds, but with extreme accuracy (1mm). For the drive system, I'm considering using brushless motors as they have a much greater power / volume ratio than I am able to find with brushed motors, especially at this small size.
I will be using wheels between 1" and 2" diameter, so the RPM I will be looking for is between 150 - 500 RPM at max. This would suggest either driving the motors at a low speed directly, or driving them at a high speed and gearing them down. As I understand it, both setups will give high torques, as brushless motors decrease torque with speed. With brushed motors, it's quite obvious that a gearbox is necessary as otherwise there is no torque in the system, but here the choice isn't as clear, which is why I am asking.
tl;dr Use brushless motors at high speed with gearbox or low speed (ungeared) for high torque / low speed / high precision application?