Palolem is 1 hour south of Madgaon. You will get frequent buses to Chaudi(Canacona) from Madgaon. You can also get some direct buses to Palolem(infrequent) from Madgaon. From Chaudi to Palolem is 3km and many autos are available. You can also take some long distance buses from Panjim which stop at Chaudi.