Yeah, you need a boost for sure I'd think.
But the thing is, you MUST have very similar voltages when you add a battery to another battery paralell.
If not, the higher volt one will start charging the lower volt one. With stuff like A123's or lipo, this might happen fast enough to cause some real fun. Such as boiling the lead battery till it explodes spewing acid all over everybody nearby. Or you could get lucky and the only result is a piece of wire instantaneously becoming molten in your hand. So that means charging both, and connecting them at the start, or at some point when both have the same resting voltage. So that makes having one battery 20 ah and the other 2 ah pretty awkward. If your lead battery is trying to recharge your a123's for most of the ride, the battery can handle that I think, but you better have some honking fat wires connecting them, because all that current flowing is going to get very very hot. Much better to paralell similar capacity batteries. But of course, if you had 20 ah of a123, you'd trash can the lead.
Again, diodes could help with this issue, preventing that kind of one battery trying to charge the other problem. And again, the real solution to your problem is going to take more than $100. Start small, and get some lipo I'd say. 5 ah of lipo and a cheaper charger to go with it will give you a few runs up the hill, and then switch back to the lead. later on you can expand the lipo pack size and voltage. The great thing about this Hobby King lipo is you can buy a few now, and pay for more later. They have so much power, a tiny pack can run a big motor. So next time you have a few bux, order the charger, and when you get more, order your batteries if you can't afford $100 to $200 today.