A routing method based on hierarchical adaptive switching of heterogeneous subnetworks is proposed, which is used to address the local speed reduction and interruption effects caused by complex terrain ground environment interference on group mobile nodes. Firstly, by designing a universal networking and routing model, taking into account the impact of changes in energy, storage, and communication links on the network. Then, a two-level network architecture is formed based on sub network clustering and partitioning. At last, local and global predictions are introduced to design the optimal model for dealing with time-varying topology, improving the accuracy and reliability of routing during lunar data transmission. Compared to conventional single constraint models, independent resource calculation and path planning are performed on each subnet to ensure that even in the event of individual carrier interruption loss during the task process, the optimal replacement topology of the network can be quickly formed. After simulation experiment analysis, statistical results of routing request ratio, number of faults, data packets, and routing rate delay were obtained. The routing delay is at the millisecond level, indicating that the algorithm model has good fidelity and real-time performance in applications above 10 nodes on the lunar surface.