The veteran striker was rated no better than 50/50 to play against Bournemouth on Boxing Day but came off the bench in the 73rd minute, replacing Michael Pook, and will be hoping to make a bigger contribution against John Still’s men.
Defenders Lee Ridley and Michael Townsend both faced the Cherries following calf injuries and are both expected to retain their places for the trip to Greater London.
Town were defeated 1-0 by high-flying Bournemouth on Saturday so Yates faces his first away match in charge of Cheltenham seeking his first win for the club where he spent five years as a player.
Meanwhile, the Robins boss hailed the effort of his players despite the 1-0 loss to the Cherries.
Liam Feeney’s second-half screamer was enough to give Bournemouth victory and Yates knows it will take time to arrest a run of one win in their last 15 matches.
“I thought our players were outstanding, we did everything but score and in the end got done by a wonder strike,” said Yates.
“Sometimes these things happen when things aren’t going for you but we’re not downbeat. If I get that effort and commitment and quality from the players every week we will be more than fine.
“It’s going to take time, the players are not going to pick up everything straight away. But already I’m starting to see players’ traits, what they do and don’t like doing.
“All I want is hard work, enthusiasm and commitment, and them coming to work with a smile on their face. If we manage that day in and day then we’ll be doing something right and that’s the aim.”