All eyes will be on Whaddon Road as the Robins attempt to upset David Moyes' high-flying side.
While the League Two outfit are firm underdogs, Yates is hopeful Cheltenham can make home advantage count after being beaten 3-0 at Tottenham at the same stage of the competition last season.
"The Tottenham one last year was brilliant because it was away from home and it was a fantastic stadium to go and experience and we did alright," he said.
"But this one's at our place, 7,000 supporters and there'll be a fantastic atmosphere that's not been seen for a little while and to see Premier League players at Whaddon Road will be brilliant.
"My boys will try and be relaxed and if they make sure they enjoy it and if they do that then they'll give a good account of themselves.
"I'm sure my boys will go out there and give it their best shot."