Yeah, once you know where they are you've already won. If you don't, your best bet is to invoke ESP and guess where the level designer is going to put them (this works more often than you'd think...).
Otherwise, barring save/reload action, just get used to it and learn to duck for cover fast. Once you start seeing drillers, you should also proceed cautiously and start expecting them to show up more; you might not take no damage but you should at least limit the amount you do.
Side note: if you know where a driller is it is usually possible to kill it with lasers without taking damage. Even if it's facing your way. I'll let you figure out how.
P.S. A lot of people will probably only need to play through a level once to remember where the drillers are. They are the sort of thing you don't easily forget... while you might not be able to rattle off the spots off the top of your head any more than you could draw the layout of the level after a single fly-through (often many more), the structure surrounding its location can easily serve as a good enough memory trigger to remind you \"hey, I ran into a driller about here\".