It’s totally possible that bad rotors are responsible for the noise that you’re hearing, as you’ll typically hear a squeaking noise from your brakes when your rotors need to be replaced. If you’re hearing a scraping or grinding noise when you brake, that means that your rotors are warped and should be replaced very soon.
If the noise you’re hearing happens while you’re driving without applying the brakes, however, it could be something else. A squeaking or grinding noise while driving could mean that there is an issue with your transmission or your wheel bearings rather than your brakes or rotors.
Regardless, it’s best to get the issue looked at by a mechanic as soon as you can.