In several applications involving autonomous navigation of robotic systems, the selection of the applied sensors is a criterion of extreme importance, allowing the correct identification of obstacles within a safe detection range. Thus, the characterization of the sensors becomes a necessary step in identifying the terms of use and limitations of the different devices analyzed, in order to focus on the correct choice for different applications and scenarios of use. This paper discusses a study about the use and characterization of various ultrasonic sensors and low cost laser sensors applied to the detection of components commonly used in high voltage towers, which have distinct properties and geometries, for means of evaluating a possible use in future autonomous systems through unmanned aerial vehicles. Based on the results obtained, it was possible to identify the characteristics of use of the analyzed sensors in a controlled environment and in an uncontrolled environment, providing vital information for the correct choice of sensors applied to autonomous navigation in high voltage towers scenarios.