To start with, why the bloody hell did You undertake such project if robotics is alien for You?
In Your post You did not ask any specific questions, hence we don't know what exact help do You need. If you hope that someone will give You link or tutorial how to build what You want to build - sorry to disappoint You.
Regarding Your H-bridge - it will not work as You expect, because high side transistors are NPN and not PNP.
Plus, if You plan to use H-bridge, then You will want to use motors and not servos, as servos do not require H-bridges.
Talking of microcontrollers, have You ever done any microcontroller programming? Or any programming at all?
Have You done any soldering? Have You ever tried building MCU? If not, then You'd probably be better off with ready made MCU, such as Axon or Arduino, or something similar.
If You use microcontroller, then why do You want to use IR sensor with comparator? Another question, if You are planning to controll robot Yourself, why do You need IR sensor at all?