Although I have operated dozers occasionally over the last 30-odd years, I have only owned my own (just a li'l Furukawa CD5B) but have also had trouble keeping my batteries charged. To be honest, I think my alternator is faulty (haven't checked it thoroughly yet) but the easiest way to maintain charge is to simply lift the seat and disconnect the battery leads after I have finished work. It is a 2-minute job and a solution that is foolproof!
Once I have found the reason for my batteries discharging, I plan to use a couple of 12V trickle chargers to maintain them; I have not found a 24V trickle charger (don't even know if they exist!), but 12V units are readily available at low cost, so just using one on each battery is a simple and low cost solution. I use a trickle charger on one of my other vehicles that I only drive occasionally and it works a treat. In fact, the previous battery in that car lasted 6 years and an auto electrician told me that using the trickle charger was undoubtedly the reason for the extended battery life.
As for my dozer problem, I am unsure whether it is leakage in the wiring harness (I can see that a previous owner has meddled with the electrics), leakage through the alternator, or possibly even quite simply that the alternator is not charging the batteries. I want to rip out the entire electrical system and replace it with a simple system that just provides the bare essentials.