Yeah, another vote for Jamil's pitching rate calculator.
One note, though -- his recommended volumes are the 'optimal' pitching rates. I have found that you still get excellent fermentation just as long as you are generall close to his target rates. Having said this, it really is true that if you really under-pitch (or possibly over-pitch) you are putting yourself at risk of developing off-flavours in your beer, even if you get an apparently strong, vigorous fermentation.
Since I started paying close attention to my yeast pitching rates, my beer has definitely improved -- especially my higher gravity (and in some cases, very low gravity) beers.