It is very demanding on navigation

location and obstacle avoidance ability for UAV to execute cable tun-nel inspection because underground cable trench is with heat and humidity

and narrow containing many obstaclessuch as cable cable racks. In addition

cables are laid underground in the tunnel where there are existing up anddown slopes and bends

and it is hard to get GPS signal. Therefore

it is necessary to develop special techniques forUAV-based underground cable trench inspection. In this research

a laser SLAM based technology was designed foradaptive control and real-time obstacle avoidance of UAV in the complex cable trench environment

and this technol-ogy was tested and verified via the real cable trench inspection.