How to choose platform suitable for navigation stack

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I want to build my own mobile robot and i want to employ the navigation stack in the platform. Since there are lot of configurations in mobile base like track & sprockets, four wheel drive, two wheel drive with a castor, holonomic etc, Which one of these is most suitable and readily compatible with navigation stack, without too much of changes in the stack.

I also concerned with usage of platform for further developments, may be like a research platform.