This paper studies the process of forming an algorithm for the actions of a group of mobile robots, which allows to effectively carry out a landing of an unmanned aerial vehicle on their formation in a given area. Building a communication field to transmit data from the drones to a group of robots is investigated, the planning of the local trajectory of the robots is described, and obstacles are taken into account. And the formation of robots taking into account obstacles and the creation of a formation of robots is considered. As a result of the review of current planning methods and their comparative analysis, the method that most effectively copes with similar problems is determined—the method of tangential avoidance. Authors of the paper adapt this method to the conditions of a problem to be solved and offer its modified version as a new method. To confirm the performance of the method, a series of experiments is conducted, which show that the developed method can successfully cope with the formation of trajectories of mobile robots at randomly determined locations of obstacles and robots.