My battery light comes on intermittently why? And what is the cause?

recommend u get it checked out somewhere. you describe the engine stalling. battery light on from alternator not charging, not turning and losing power and power steering because engine stalled. if was just a charging issue, u would still have power steering (it is hydraulic, not electric so as long as engine turning, u would have power steering on a 98 rav 4). if was just battery light issue, would be a different story. rec have someone diagnose and repair it