In order to accurately and effectively predict the traction performance of tracked undercarriages under the complex operating environment in hilly and mountainous areas, a prediction model for the traction performance of tracked undercarriages was established and experimentally verified based on the law of grounding pressure distribution. Firstly, a mathematical model of ground pressure distribution with multi-peak non-linear distribution was proposed by considering the slope angle and chassis parameters, and the ground pressure test was carried out at different slopes and postures, and the results showed that the average error of its prediction was about 4.7%, the model can better predict the distribution of grounding pressure of crawler chassis in slope environment. Secondly, based on the grounding pressure model and the track-ground interaction law, by considering the soil characteristics, slope and the change of the position of the center of gravity for the attitude adjustment of the crawler chassis, the traction-slip rate prediction model of the crawler chassis composed of the driving force characteristics of the evenly distributed vertical load and the non-uniform load control part was further constructed. Finally, the traction performance tests of contour driving and longitudinal climbing conditions were carried out based on the three types of crawler chassis to verify the prediction model, and the results showed that the average prediction error of the model was 3.6%, 5.4% and 6.3%, respectively, and the overall prediction error was small, which could provide theoretical basis and data support for the design and development of the applicability of the tracked chassis in hilly and mountainous areas and the optimization of maneuverability.