Hi,
The problem is that a lipo under that kind of load will likely drop in voltage to 3v per cell and even lower as it discharges depending on the cell.
to handle that, you would need something called a boost/buck converter, that will raise and lower the output voltage depending on need, however, i've never seen one at 20A... it doesn't mean it doesn't exist or that you couldn't design one.
life would be easier if it were 5S then you would be at 18.5v and maybe 15v under heavy load.
There are plenty of circuits out there that could do that by just regulating the output.