H-Bridge controlling circuit
I recommend using a pre-built motor bridge controller chip. You have lots to choose from; Digikey has 4280 options.

I say this for several reasons:


Non-overlap times must be enforced, or else you'll release the magic smoke.
Driving MOSFET gates through large resistors makes them sensitive to Miller turn-on.
Purpose-made ICs will be generally less noise-sensitive.
These purpose-made circuits often have internal charge pumps, permitting you to use the same transistor (i.e., all-NMOS) for all of your switches.
In the end, it'll take less board space and be cheaper.