What are the steps to make a maze solver robot code?

I am trying to make a maze solver lego mindstorm robot, I need to know what are the steps to make the matlab code using two sensors for the robot (gyro sensor and infrared sensor)? Also, the robot should not touch any walls of the maze, while solving it.

[Sonam Gupta]

Following Examples may be a good starting point: https://www.mathworks.com/help/supportpkg/legomindstormsev3io/examples.html?s_cid=doc_ftr