The COVID-19 pandemic is an unavoidable disaster. Many COVID-19 sufferers must self-isolate at their respective residences. However, difficult access has hampered the distribution of medicines from nearby hospitals. This paper aims to find the shortest route for UAVs so that they can deliver drugs in the shortest possible time and the minimum distance. The method used is the application of the Hamilton Circuit with the Cheapest Link Algorithm approach so that the distance between houses can be reached without being neglected at all. Flying construction was carried out using Software in The Loop (SITL) and ArduPilot Mission Planner. The results obtained are that routes created using the Cheapest Link Algorithm have an average efficiency of 66.86% better than other Hamilton circuits formed on the same graph.