There is a donut gasket at the bottom of the exhaust manifolds that will come loose and cause the pipe to rattle. It is an easy and cheap fix IF you can get the exhaust bolts loose. All you have to do is get underneath and try to move the exhaust pipe and see how much it flexes at the exhaust manifold.
If it is something loose in either the cats or the mufflers all you have to do is go under the coach and strike the parts. Something loose will rattle.
Do this BEFORE you take it to a mechanic other wise you may be paying for a new part when all that was necessary to stop the noise was tightening up a bracket.