What Dave said. I put a solar panel on my first boat - installed in pretty much the only location where there was sufficient room. We knew that we could avoid stepping there. After a season or two with no problems, I needed to get a guy from the yacht club to crew for me to shuttle the boat 100 miles down the coast. Within the first 15 minutes, he stepped on the panel and cracked it. Interestingly, that boat was a Venture 22. (We put the panel on the pop-top.)
That said, if you want solar panels, there is no perfect place on any boat. Any location is a compromise. If that is the best location, then that is the best location - or the least bad location, anyway.
If the panel sticks up, at all, it will probably snag lines. If it can be stepped on, it probably will be stepped on. You just do what you can.
My preference is having panels that are mounted off the deck and above and/or behind most running rigging, such as off the transom or over a bimini/dodger. But, I think that, in most cases, you just put them in a place you can live with that is as out of the way as you can manage.
Something I think is a good idea, if you have to mount where the panel can be stepped on, is twofold. First, you make sure the panel is really well supported underneath. This minimizes the panel's ability to flex, should it be stepped on. So, there's a chance it won't break. Second, is to build a little plexiglass (or similar) cover that can be easily removed/installed. That way, you can choose to protect it, such as when under sail. The cover will decrease its effectiveness, which is why you would want it easy to install and remove. I haven't seen anyone build/use such a cover, but I've always thought it would be a good idea.
A little "cage" protector would not degrade the panel's effectiveness as much and could be left in place. But, it brings its own little issues, too. That is something I have seen - not over solar panels, but over hatches and ports. (There's a name for this that escapes me, right now.)