Third party help
Usually agreements reached between parents work far better and are more flexible than a court-imposed order. There are various cost effective ways of trying to resolve issues without resorting to court proceedings, such as mediation, a process by which you can discuss and negotiate arrangements with the help of a mediator, a neutral third party.
Be innovative in your suggestions for contact. For example, if overnight stays with you are not possible, perhaps you could use a relative’s or friend’s house. If you are unable to have direct contact, consider phone calls, letters and pictures, Skype or FaceTime to help you maintain that relationship.