If your battery is big (say 100AH), then perhaps you can directly connect the solar panel (only 20W) via 2-3 diodes (in series). The max battery voltage will be 14.4-14.6V, the three series diodes will drop about 2.4V and if the solar panel is giving full power then your battery will get happily charged. Usually solar panels can be considered as const voltage devices in the sense that the current output depends on the light intensity but not the voltage (within limits). But the voltage will depend also on the load because they DO have finite impedance.
ELSE, you will need a regulator.
If your battery is small (compared to the capacity of the solar panel, 20W in the present case), then you MUST control the current and monitor the voltage- continuously.