Abstract: This study aims to promote the electrification, intelligence, and multifunctionality of agricultural machinery by designing a distributed driven electric tracked chassis, specifically developed to address the challenges posed by unstructured terrain in orchard operations. The chassis adopts a modular integrated design, consisting of the power system, walking system, electrical control system, and intelligent perception system. The power system is powered by a 72 V lithium battery pack, providing power to two 3 kW permanent magnet synchronous servo motors, with each motor integrated with a planetary gearbox to output high torque suitable for track drive. The walking system integrates rubber tracks, drive wheels, guide wheels, an independent suspension wheel group, and a tensioning device, balancing lightweight design with high passability. The electrical control system consists of the vehicle control unit, motor control units, battery management system, and CAN communication network, responsible for torque distribution and energy management while supporting real-time data interaction with subsystems. The intelligent perception system, based on the intelligent driving domain controller, integrates a GPS/IMU navigation device, PTZ camera, and ultrasonic radar to achieve precise positioning, environmental perception, and path planning in orchard environments. Regarding the electrical and electronic architecture, the chassis adopts a "high-voltage drive - low-voltage control" layered power supply and multi-bus communication topology to ensure rapid dynamic adjustment and high reliability of the power system. The high-voltage system is powered by the 72 V battery, with energy distribution and protection managed through the high-voltage distribution box. The low-voltage system consists of two networks, 12 V and 24 V, which provide power to the controllers, sensors, communication devices, and braking units, respectively. The multi-bus collaborative communication topology includes multiple CAN buses and an RS485 bus, used for real-time data exchange between the vehicle control unit and motor control units, environmental perception and intelligent control data exchange, as well as program burning and parameter calibration. The coordinated multi-bus design ensures efficient and stable data transmission between control units, providing reliable communication support for the chassis's intelligent operation. Drawing from the centralized domain controller architecture and standardized V-model development approach in the new energy vehicle sector, the application layer software for the chassis domain controller was developed using a model-based design method, integrating multi-level control functions, signal diagnostics, and functional safety mechanisms. After testing the application layer software and verifying the automatically generated code, the developed software meets all mandatory requirements of ISO 26262 functional safety, MAAB modeling standards, and MISRA C 2023 code generation standards, ensuring software compliance and functional safety. Multi-body dynamics rigid-flexible coupling simulations and prototype testing results show that the distributed driven electric tracked chassis meets the design requirements in terms of power, passability, load capacity, climbing ability, obstacle-crossing ability, and steering performance. In the maximum speed test, the chassis operated stably at 2.11 m/s; in the load performance test, the chassis ran smoothly with a 1500 kg load, with even track grounding and no slippage or yaw; in the 25° slope climbing test, the chassis demonstrated stable climbing ability; in the obstacle-crossing test, the chassis successfully passed obstacles up to 0.25 m high, with minimal vertical acceleration change and no severe shock or subsidence; in the steering performance test, the chassis exhibited good trajectory consistency during in-place and small-radius turns, with a maximum deviation controlled within ±2%, and a minimum turning radius 12% smaller than the design value, demonstrating excellent steering flexibility and structural stability. Overall, this study provides a systematic technical pathway for the development of the distributed electric-driven crawler chassis's electronic and electrical architecture and controller software architecture for unstructured terrain operations in orchards. It advances the intelligent development of agricultural machinery and provides technical support and theoretical foundation for the development of high-performance, highly adaptable intelligent farm machinery.