I'd suggest that probably you have at least one bad battery. It only takes one to cause the problem you're seeing. One bad cell will suck the life out of the other three.
A voltmeter is useful to find a bad cell but only after it is partially discharged. My experience with bad cells is that they are fine for the first few shots, then die real fast. You can fix bad cells by putting a zap of extra power through them or banging the ends on a hard surface. Both methods will clear the guck & corrosion that's inside that causes them to go bad. I used to do that, but now I just pitch out the bad ones because the seem to go bad within a month again. Just not worth it.
Your best bet is to get a proper charger that shows the charge and allows you to discharge and rejuvenate them. The absolute best one is here:
BC-900 Battery Charger Sale $38.97 La Crosse - LaCrosse BC900
I've tried them all and this blows everything away. It will show you bad cells and you'll know exactly how much charge is in each cell. Just buy it and if you are unhappy, I'll buy it from you - it's that good. Honest. BTW, it works with any batteries that are rechargeable. The ones with the set are not the best in the world, but they're OK.
Doug