Fascinating history and current engineering
For rugged terrain without roads or tracks, spring mesh tires (made from nickel titanium memory alloy) is the best option, providing excellent traction without too much deflection, and able to 'heal' after rougher terrain.
The soviet rover used what is essentially a bare rim with treads, while a pneumatic tire has been used on the moon as part of a tool dolly.
All of these things work! It's up to the OP to specify the track material/surface. Maybe pine planks?