You should really plan thos things, i'm no expert on it
but as i build on my bots i tend to hit walls because i didn't think it all through.
I guess you should have a pretty detailed plan to what your bot should do and go from there. For instance I want to build al line following bot. You should think about how long you want to be able to keep following the line before recharging?
How fast do you want to follow the line? what sensors do you need to trace the line (at that speed) what voltage do they need? what voltage does your microcontroller need? what would be the total current consumption etc etc
when you have that picture you can choose motors to reach the speed you want. I'd choose the voltage rating (nominal which means as much as what it was designed for i guess) of the motors so that i could feed them directly off the same battery pack as my sensors and microcontroller (but use capacitors to prevent sudden voltage dips etc). You could also choose two separate packs, one for the motors and one for the electronics but it's more of a hassle charging the both.
Also look at the current consumption of your motors, it could be as much as 12A or more. make sure all your electronics regarding the motors can handle this. Lastly you would choose a battery pack with a mAh rating to fit your time demands. For instance a 7,2V 2000mAh pack would drive a 7,2V 2A motor for one hour. But keep in mind heavy on the mAh usually means heavy weight or heavy on the wallet.
Again i'm no expert but i'm sure someone will correct me when wrong