Problems turning

[Bochek]

Well we shipped the robot with 2 main problems, we are 5 lbs over weight, and the robot doesn't turn.

im working on a sollution to the weight problem, but i have a question about the turning problem.

if you watch this video:
http://video.google.ca/videoplay?doc...15467259458065

you can see that we have issues with turning, we have to take a run and then quickly reverse one side to get it to turn.

i was thinking as a simple and easy sollution would be to replace all 4 wheels with the omni wheels available from andymark. as well as premounting the wheels to aluminum sprockets from ifi robotics so that its a simple swap at the competition.

my questions are as follows:

will this help us turn?
what are the disadvantages?
how much weight can we expect to loose by swaping to the aluminum sprockets?

Thanks alot.

- Bochek