I would highly reccomend using DC motors. They are faster, stronger, cheaper, and more scalable (can be used on large robots as well as small ones).
Just make sure you get a gearhead motor as the gears slow down the motor to a reasonable speed and greatly improve torque.
All you need to control it is an h-bridge which can be made out of a few transistors or you can buy an ic
. You can also buy modules that allow different control methods (serial, analog voltage, pwm) but these tend to cost in the 20 to 50 dollar range.