In this paper, we propose a system for detection of the missing people employing UAV which is able to move quickly and has a wide view from the air in the disaster area. However, an airplane type UAV does not always have a stable flight due to strong wind, rolling, and pitching. In order to detect and to respond the missing people promptly using the UAV, we propose the system which uses a phased array antenna and an angle detector. To implement the system, we assemble the phased array antenna and carry out an experiment to measure the characteristics of directivity, the directivity control characteristics, the return loss of the antenna, and the received power level to compare using and not using the phased array antenna in terms of efficiency and functionality. The experiment results show that the proposed system increase the received power level by adjusting the directivity of the antennas with short delay time. The results also confirm that the proposed system is practical in decreasing victims of disasters.