Navigation systems are essential in mapping unknown indoor and outdoor environments. A good navigation system should be able to detect objects and map the environment efficiently. This paper presents an intelligent navigation system that uses YOLOv4 for object detection and Occupancy grid mapping for mapping both indoor and outdoor environments. The system uses a database that contains captured images of various environments like Tunnel, Ocean, Etc. The YOLOv4 algorithm detects objects in the environment while the Occupancy grid mapping algorithm maps the environment. The system is tested in indoor and outdoor environments, and the results show that it effectively navigates unknown environments.