The lawnbot400 has a lot of potential. I would follow the example that they set on that website. The smart thing to do is to protect your high power devices with a fan to help dissipate heat. That's what I did in my power supply circuit.
The other thing they did in their design which was really cleaver, was they used a worm gear to drive the wheels. That way they could have a motor with a really low current rating and not over whelm it with torque. That is what I would suggest you do with your design.