Optimal route planning is a key aspect of successfully delivering geosensors using unmanned aerial vehicles (UAVs) to geographically distributed targets. The optimality of the route depends on the time required to plan the route and execute the flight to a target or group of targets, considering traffic safety and dynamic constraints. The trajectory calculation algorithm must always find a route, if one exists, and if it is impossible to find one, inform the operator about this circumstance. This article proposes a method based on a set of algorithms that ensure efficient distribution of targets among group members based on information about the targets and characteristics of the unmanned aerial vehicles used. The method involves constructing optimal routes considering minimizing path length, avoiding sharp turns and loops, as well as avoiding obstacles and avoiding collisions with other unmanned aerial vehicles within the group. To test the proposed method, software was developed using the ROS/Gazebo en-vironment. The proposed method is a comprehensive solution to the problem of optimal route planning for UAVs with an emphasis on efficiency, safety, and efficiency in the context of geosensor delivery using unmanned aerial vehicles.