how many motors are you using? how are you controlling them?? with switches or relays? are you controlling it by radio? more info is required.
You would need to control each of the motors with some Mosfet transistors.
I suggest not using microcontrollers if you are not skilled with them, make it a wired robot! no need to be wireless! just wire up some DPDT center off switches! it will make your life MUCH easier. also please clarify what you mean by to n fro, and up and down