Show your full circuit. I doubt if you are using L293 then there should be a motor, if you are also connecting motor to the battery then it depends on the consumption of the motor.
What IR sensor are you using? how much current does it consumes?
Connecting everything you mentioned, in addition to Motors as "nandhu105" mentioned, and having all working, seems a bit difficult for a 1.3 Ah battery. Your next option is to go for a 12volt 4.5Ah battery.