Since what you’re wanting to do is add dependency management to an existing Ant project, that’s precisely what Ivy’s designed to do. Dependency management is a big part of Maven, but far from all of it. Maven is more of a project-oriented tool that does several other things in addition to dependencies. It would be worth considering if you were planning to migrate to Maven and use additional Maven features as well, but it’s a bit much if all you’d use it for is to spin off Ant.
Your type of dependencies and your expectations for how they behave will also make a difference. Pulling third-party dependencies is almost trivial in Maven, while Ivy excels in rebuilding your own dependent components. In either case, the tools won’t provide decent build, versioning, and repository policies, those are still up to you and needed to get the configuration right.