Arduino Uno resets when the code starts to run with l293d motor shield

So basically I just built a car which avoids obstacles for a school exhibition and while I tested it it ran for 30 seconds then the speed became slow for 10 seconds and then the entire thing reset with a beep and then it start then reset again.

Here is a circuit diagram

Here is a video on how it just resets.

If you know what is wrong with it pls tell me

Welcome to the forum

Is your project really powered with the 9V battery shown ?

If so, then it cannot supply the required current to power the Arduino, 4 motors and a servo

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Yes it is powered by the 2 18650 9v battery maybe the battery power is low so I'll check

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hi can i ask for the schematics of this circuit diagram?

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