Esperance police Sergeant Beswick said the charges resulted from an incident on Monday in which a Holden Commodore vehicle was stolen from Merredin and driven to Norseman.

Three occupants of the vehicle entered an IGA on Roberts Road, Norseman where a 23-year-old female attempted to steal a Royal Flying Doctor Service tin, before a staff member attempted to challenge her.

The 23-year-old struck out at the staff member with a hammer, hitting her on the hand.

The occupants of the vehicle were later seen refuelling at Salmon Gums before making their way to Esperance.

The vehicle was later seen by a helicopter wedged in a bush between Dean Street and Sims Street.

Esperance police have charged four people from Perth's northern suburbs, including the 23-year-old Balga woman on charges of stealing and assault.

Full details on the court appearance to come.