In areas with complex terrain, especially like Japan with deep mountains and isolated islands, truck delivery has the disadvantages of high cost and inaccessibility. Recently, drones have been widely used in delivery industry and can overcome terrain restrictions. TSPmD (Traveling Salesman Problem with multiple Drones) is used to model and solve the coordinated delivery problem of truck and drones. However, with restriction areas like no-fly zones for drones, mountains or islands for trucks, existing TSPmD model is insufficient. This research enhances the TSPmD model to accommodate complex restriction areas, presenting mathematical solutions. Through a case study in Japan, we devised a method for evaluating travel costs in restriction areas and formulated optimal coordinated delivery routes.