Hi Chris: Yes absolutely you will "feel" the benefit of 6" of R-19 fiberglas batt insulation between floor joists....make sure to use the insulation without a vapor barrier and very carefully pack the insulation by hand around the pipes and wires the go through the subfloor decking.
I always put down 3/4 minus gravel over 8 mil plastic sheeting...usually 2 or 3". It will hold the plastic uniformly down in contact with the ground....the most effective method of blocking evaporating moisture. Also, if you are in a warm climate, spraying down a borate solution (boric acid) can be effective in controlling insects.