actually this is a very simple game concept and it is more simple then it first look like.
you can use several tools for it i would recommend to use X2 since it will be cross platform.
you dont need to use Tiled since you want to create an endless world so there is no logic to use tiled is such a game.
what you need to do is to understand how games work for example the cycle in a game. there are many many examples in the forum.
i would recommend you to go first through the simple games here that uses only canvas to draw the whole game. this will give you the basics on how
games work then you could use X2.
the obstacles can/should be box2d bodies. this will save you big headache of collision detection.
the flappy bird example of erel will help you understand how to create new bodies (pipes in this game) and this should be the same concept for your game idea.
good luck!