Code to Move 4WD Robot In specified X and Y coordinates

Hello, I am currently doing my final year project and I badly need help in coding my 4WD Robot, I am using arduino uno with the sensor shield V4.0. Basically I need code to move my 4WD Robot in specified X and Y coordinates. Yes, I know before making it move in specified X and Y coordinates first I have to know the position and orientation of the Robot, I'm finding the position and the orientation of the Robot through Laser Tracker and I just want code to move my robot in specified X and Y coordinates. Please help me out guys!!

Thank you

First orient the robot so that it is pointing in the desired direction, then move the required distance. Only you know what is required for your robot to perform either action.