Precise Robot Navigation from point to point. HELP

Hi. This is kind of a dumb question so sorry and thank you in advance.

So, I managed to work with Indoor positioning system for my mobile robot. I am working with Trilateration. I have 3 anchors distributed like and a tag to my robot. I'm reading the 3 distances and process it to (x, y) coordinates. So basically, I would know my current position (x1, y1) and my target position (x2, y2)

But how would I tell my robot to move from point to point in straight line precisely over time?

I'm aware of having optical encoders attached to the wheel, or gyroscope but they drift over time which and I'll lose track of my orientation.

But how would I tell my robot to move from point to point in straight line precisely over time?

In exactly the same way as you draw a line between two points on the screen.

This is one such method. Bresenham's line algorithm - Wikipedia

Cool. Thanks