Recently, natural disasters including earthquakes, tsunami and floods occur frequently. We need to determine and take a suitable shelter for enabling evacuation from tsunami waves when great earthquake occurs. New technologies and system that decreases the damage by those disasters is expected for human life support. We are developing an evacuation guide supporting system using Internet of Things (IoT) Devices. We propose the function provides efficient evacuation guidance by UAVs in this paper. The function provides searching evacuation guidance routes and cooperating other UAVs according to circumstances. We performed some experiments and carried out disaster drill in Iwaki city, Fukushima Prefecture, Japan.