Enable prelude-global-helm-global-mode by default

Since Helm is another option to Ido, users who want to use it fully
should benefit from the default Prelude setup. If some users don't like,
they can always disable global Helm mode according to the instructions
in the homepage. Users should always use
prelude-global-helm-global-mode-on and
prelude-global-helm-global-mode-off for turnning Helm on/off.

This change also enables Helm version of command history in shell and
eshell. It also adds minibuffer history without overrides any key
binding in minibuffer-local-map.