You should certainly ensure the iPad has enough charge to restore properly. A fully exhausted battery will cause problems as the charging does not kick in until later in the boot process, so if there is not enough juice to get it there it will fail.
Connect the iPad to the WALL charger for a good few hours. If you don't have a wall charger, get the iPad into DFU mode and leave it connected to your PC overnight and for as long as possible (the PC will only trickle charge the iPad). Give it at least 8-12 hours. But the best bet is definitely the wall charger.