2A on 24V .. you can get that from lead-acid batteries... I assume you will not run all motors all the time, but note that lead-acid ones are heavy. You can find li-io battery pack (26V) that can output 1.8A-2A but that is going to be rather expensive.
If you go for lower voltage you need more current for the same wattage and that's much more problematic / expensive.
The cheapest way -> 2x car battery, but that is *heavy*
SLA is lighter but with less "punch"
LiIo is the best choice but expeeeeeeensive
Note that rating for lead acid changes for different discharge currents, so 10Ah battery will work ~20 hours at 0.5A, 8h at 1A, ~3H at 2A and less then 20min at 10A