An unmanned aerial vehicle (UAV) is an aircraft which can fly without a human pilot aboard. Nowadays, more and more UAVs are recruited for civilian applications because of its high mobility and flexibility. However, in some complex environments, the UAV cannot precisely perceive the surrounding environment and act properly due to the limitations of communication and perception ability of traditional sensors. Although a lot of effort has been spent on overcoming these weaknesses, a more efficient and effective method still needs to be developed. Therefore, the high-performance autonomous navigation capability is of great significance for the development and application of UAVs.
