[Zorkinian]

Very abstractly, you could integrate the output of the accelerometers twice to get position, and use that to determine how far you need to go.

However, the accelerometers are infamous for being quite noisy (or perhaps, more accurately, they're too good - picking up on your robot's vibrations), and so you're likely to have a significant amount of error in your program.

If possible, I would suggest using follow encoders (encoders attached to small free-spinning wheels) to give you absolute reference.