sensors hc sr04 and motor pap

Good morning .
First apologize for my English.
I'm doing a project that consists of two pap motors and two measuring hcsr04 sensors. I want that sensor to always remain at the same distance from an already established path.
I do not know very well if it will work for me and I do not know very well if the material I have will be enough. The material is:
2xarduino uno r3
2x pap nema engines 23
2x h bridge l298n
2 polulou a4298.
1x 300w power source.

I do not know codgery very well either.

By the way, the road that the car must follow varies only in two axes x and y.The linear movement is already done with a DC motor.

thank you very much