24 motor array

Do all of the servos need to run at the same time or could motion be limited to a few at once? This matters a LOT in terms of selecting a power supply.

Using standard hobby servos is going to save you LOTS of work with separate motor controllers, so if I were you I would try to find a suitable continuous or 720 degree hobby servo.

Pololu sells three options near the middle of this page

ServoCity also has some decent options (One would think they should):

This is a 3.5 rotation positional servo.
http://www.servocity.com/html/hs-785hb_3_5_rotations.html

This is a factory modified continuous rotation servo.
http://www.servocity.com/html/hsr-1425cr__continuous_rotatio.html
Unfortunately its out of stock, but if you planned on buying a lot of them they might try to fix that.

If you find a good positional servo that you want to make continuous rotation it can be done, but its not trivial. Servo city has some info on that here.
http://www.servocity.com/html/continuous_rotation_informatio.html

Lastly while you are at ServoCity take a look at their other hardware. Their servo gears, hubs, and sprocket chain is quite useful stuff.