At typical motor drive like a h-bridge needs 2 digital pins (forward, backward, float and break) 1 pwm pin to change the turning speed.
The VSS comes from the battery.
Servo only need 1 pwm port. Or using servo library, then its 1 digital pin.
Potmeter need 1 analog port.
And the range sensor also 1 analog.
So you can do it with a normal arduino.