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You can never exactly reach the goal, except by some great stroke of luck. You need to use a delta so that when your robot gets sufficiently close to the goal, it accepts that as the same as having reached the goal and stops. How large that delta will be (1 cm, 10 cm, 1 m, etc.) will depend on your application (how accurate you need to be) and your robot (how accurately it can control its position.)
Decide how big to make your delta, then where you calculate if the goal has been reached, instead of checking if x and y match the goal, calculate the current distance from the goal and check if it is less than the delta.
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