This week, I adjusted the powering plan and the motor control plan. I am now using 18650 batteries only to power the whole robot. Powering RPi5 is actually not an easy problem. Its standard current input is 5A. Though the minimum current requirement is 3A, any unstabilility at this current level would cause RPi5 to black out. And unfortunately, most power banks are only 3A. As a result, I decided to order an UPS board to power the RPi5. I also decided to use L298N as motor controller for more stability.
Now, I have fixed the problems in the design of the motor system and are ready for assembling the robot. I am behind the schedule now, but I would work on the project a lot tomorrow and should be able to catch up a significant part of the progress. By putting a little bit more work next week, our group should have a basic working robot model at the interim demo.