The article overviews solutions for organizing LiFi communication in an obstacle-ridden environment using UAVs. The goal of the research is to develop an improved rectangle method approach and a tool to provide reliable P2P communication for a swarm of UAVs in an obstacle environment. Approaches for developing algorithms for circumventing mechanical obstacles considering communication range constraints are described. Methods and algorithms for solving the problem are developed. A tool for constructing a P2P route in obstacle conditions and comparing the rectangle method with the presented improvements for the minimum distance traveled and the minimum number of UAVs deployed are presented.