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How big are the wheels you're using? The drill motor in high geared down 3:1 is going to theoretically make the wheel spin at 330 rpm. A 6" diameter wheel spinning this fast should (theoretically) make the robot move at about 9 ft/s. You need to gear it down more. The problem is that you have it geared so high (and spinning so fast) that you're not getting enough torque. You are stalling the drill motors, upping their current draw to around 114 amps (per motor). This is why you're tripping the breakers so fast (they provide 200 amps for a number of seconds). Gear them down more and you should be alright.
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