[skimoose]

It depends on your gear ratios, wheel diameter, and whether or not your frame is set up for dropped center wheels which all affect the friction against turning. If you are doing dropped center wheels you should have no problem overcoming the friction from side scrub when turning. If you don't have the engineering mentors to calculate these forces, you can always rely on building and testing your robot on carpet similar to the playing field. Make sure your drive base is weighted to the final maximum weight allowed. I've seen rookie teams build and test on linoleum or similar hard surfaces only to find that when the robot was fully assembled or placed on carpet it couldn't handle the turning loads.

We've had no problems with turning with any of our 6WD robots with traction wheels at all positions. They were dropped center designs.