The striker has missed his side's last two games after picking up a knock but is available to face the Valiants.
Midfielder Marlon Pack could return to the starting XI having been rested by the manager.
Yates will give late fitness tests to a number of players but could have a fully-fit squad to pick from.
He told Cheltenham's official club website: "Russ Penn took one hell of a whack on Tuesday night but from the conversation I've had with the physio, it's that there's no way he wants to be left out and that's the attitude I want.
"There are a few injuries with Jermain McGlashan taking a heavy whack, Darryl Duffy feels a bit sore but there's no point worrying about it. We'll assess what we've got and see where we are."