Real-time measurement of motors' current draw for a mobile robot
I'd suggest that the best sensor type for both battery voltage and multiple (3) current splits is an INA3221 based sensor.
The INA3221 does high side current sense and provides an on board A/D for these functions that you read over the I2C bus.

These are readily available as small module boards on your favorite Chinese website, for example here. 
There are literally dozens of suppliers with a board layout simialr/identical to this:



The majority of the boards are configured for +/-3A full scale on each channel, but this can be altered by changing the sense resistor. I would not however use these boards for more than 5-6A without putting wires in parallel to the PCB tracks.