Only problem i'm having at the moment is the what type of board, motor controller and software
It's unlikely that you'll find off-the-shelf software that knows how to take a GPS waypoint route and the input from a GPS receiver, and turn that into control signals for motor controllers. The closest I can think of is APM:rover; the second closest is ROS Hydro.
To have any idea of what controller and motors you need, we would need to know a lot more about the application.
Is there gearing already?
What is the diameter of your driving sprocket?
What acceleration (in "g" or m/s/s) do you want? Note that this also includes braking for safety.
Do you have batteries? If so, which ones? If not, any particular requirements (specific weight, cost, energy, etc.)
I presume you'll want to do differential steering, which means two motors?
What is the total weight of the vehicle -- load plus vehicle plus batteries?
What is the maximum incline you'll want to be able to climb?
Once you answer those questions, you can select a pair of motors with sufficient running torque (not just stall torque.) You will likely also need to select a gearing solution, unless you happen to find a motor with built-in gearhead to match your needs.
Then look at what those motors need: Are they DC gear motors? DCBL? AC Induction? Which kind will tell you what kind of driver (and possibly inverter) you will need.
Once you have that, you can start selecting among possibly multiple drivers, and then figure out how to send control signals to those drivers.
But it all starts with quantifying the specific numbers.