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Is it possible for the robot to estimate its own position and move autonomously using only the robot, IMU, and GPS receiver?

Does the robot have wheel encoders? Using just GPS and IMU won't work well, but if you have wheel encoders (or some other velocity reference), that will work better.

Is it a mechanism to estimate self-position by expressing the latitude and longitude of the initial value and the latitude and longitude of the current location in coordinates of a plane rectangular coordinate system, and then generating the difference between them?

Effectively, yes. We transform the initial GPS position (and magnetometer reading) to a pose in UTM coordinates. That becomes our UTM-frame origin. All future GPS positions are transformed into positions within that UTM frame, and then we transform that to your robot's world frame so the EKF can fuse it.