The Robins are on a dreadful run of form having won just two of their previous 16 games to drop out of the play-off picture and down to 17th - seven points off the drop zone.
Victory this weekend would end any nerves over the remaining games of the season but, should results go against Town, then it could lead to a nervy final couple of weeks.
Yates, who saw Cheltenham triumph 6-5 in the corresponding fixture at the Pirelli Stadium last season, told the club's official website: "We have five games left, 15 points to play for and we want to get as many as we possibly can.
"We aren't in the relegation mix and we need to make sure that stays the case.
"Three points on Saturday would go a long way to confirming that."
Source: PA
Source: PA