The problems of using a heavy weak lead battery system, and a feeble 100A R-net controller (120A for a couple of secs) is considerable.
That system is barely adequate for a wheelchair on casters. and even here its easy to reach the limits - even on smooth surfaces and a powerchair turns a LOT easier than a tracked vehicle.
Watch...
http://www.wheelchairdriver.com/gopro/motoramps.mp4The result of doing this with any kind of frequency is that the controller warms up, and you get a temperature problem (overheating cuts back power severely while it cools down again).
Hence the page posted here by the Original TC Mobility Tank Chair guy Brad Soden to try and stop all the users complaining that it will not turn properly and that they get overheating problems...
http://www.tankchair.com/instuctional-videos/The real problem is that lead batteries, even "good" ones, are inadequate. And a feeble 100A with 20A boost for a few seconds is not adequate/suitable.
Your video pretty much shows as much. What you need to do is this:
1. 150A per side Roboteq. That will increase torque by at least 50 percent extra and it will not overheat as easily as it is extremely low resistance.
2. Reduce gearing by 50 percent. Giving a further DOUBLING of torque. So now we have 300% better than you have now.
3. Use 48V instead of 24V to get the speed back to the same as now.
4. Use a LARGE 48V high C rate lightweight lithium battery that can cope.
Then you will have 3x the torque you have today, and the same speed.