It all depends on terrain type. My advice: pick your terrain type and find an human vehicle that operates in that terrain type.
Low Pressure Tires
Low pressure tires are fairly standard things. They're used on nearly all agricultural equipment and some unusual offroad vehicles such as the sherp. In my mind this is probably what you want.
Low pressure tires work really well on soft terrains. Similar to tank tracks, they help distribute the weight of the vehicle, helping it to "float" on mud, snow, sand. In general, the bigger the wheel, the better.
Since the question now involves the military, you probably want tracks instead.
In fact, I've picked a vehicle for you: the Sherp.
The sherp is a vehicle that can go just about anywhere and drive over just about anything. It's fuel efficient, spacious, and for all that - it's only 44HP. How can a vehicle with 44HP be so good: big tires.
However, the large rubber tires need to be in the operational range of rubber. So you're limited to temperatures between -40C and +80C or therabouts. Fine for earth. If you're on another planet, maybe not. If you're on earth and are looking to do an expedition across the middle of nowhere, well, that's what the Sherp was designed for.
Mars rover style
Mars rovers have what's known as rocker-bogie suspension and typically have thin metal wheels with spikes on them. There are many reasons for this. Rocker-bogie evenly distributes weight across all the tires. This means that it's less likely to get stuck on bumps. Metal tires have adequate grip on rocky/sandy surfaces, don't get punctures and a few other odds and ends.
However, a mars rover sucks at high speed. They suffer from picking up the front wheel in sharp corners, the suspension doesn't absorb any shock (it conforms to the surface, but in a static way rather than a dynamic way).
Mars rovers have motors in the hubs of the wheels. This means that the total energy output per wheel is quite small (If you had one motor six times bigger routed to all 6 wheels, a stuck wheel would get six times more power). This is unfeasible on a rocker-bogie suspension system. It's worth noting that having six small motors is better for redundancy.
Bear in mind that some of the decisions about mars rovers are to do with the spaceflight there: lightweight, surviving a vacuum etc.
I can't find any videos of mars-rover-like man carrying vehicles, so here's another fully articulated vehicle: https://www.youtube.com/watch?v=OXQZMmCvTEg
It isn't winning any contests unfortunately
Tank tracks are heavy, complex and have many moving parts. The places they excell are where the ground is soft. A tank track spreads the weight over the vehicle over square meters of terrain. This offers big advantages in mud, snow and similar surfaces. Tracks can be made from metal or have spikes/cleats to dig into hard materials. This is what makes them good for sno-cats which drive on ice.
However, tank tracks have issues with manouverability and energy loss. Moving a tank track takes a lot more energy than moving a wheel because it all has to flex and bend, and when you turn, that huge big contact area with the ground is now fighting your efforts to turn.
If your vehicle is light enough for low pressure tires, take those instead. Lower pressure tires are simpler, lower maintenance, and just about as good in terms of getting over things. If your vehicle needs 50 tonnes of Armour and maintain off-road capability, go with tracks. Just be aware that it'll impact your vehicles fuel efficiency a lot.
High Pressure Tires
Similar to low pressure tires. High pressure tires can carry heavier loads than low pressure tires, but they start to suffer from sinking in to to surface. However, they require less maintenance than tank tracks, and that's why they're used for high-payload mining trucks.
Legs are, strange. On humans they allow us to do everything from swim to crawl to walk. It seems like they'd be ideal on vehicles. Unfortunately making walking vehicles is hard. They tend to be slow, weak and not that great off road. They concentrate all their weight on really small points, so sink into most terrain. If you're only operating on rock, legs may be an option. They do have the cool factor!
Boats work well on the ocean. Like, really well. They suck on land though:
Unfortunately hovercraft generally suck(tm). They can't go up hills, they get stuck on small obstacles, they are noisy and consume a lot of power.
Have a browse of http://www.unusuallocomotion.com/ to see just how strange the vehicles we can build are