This paper provides a comprehensive survey of UAV communication technologies for 5G and beyond 5G (B5G) wireless networks. It discusses the key challenges and recent advances in UAV communications, including physical layer techniques, network layer, and joint communication, computing, and caching. The paper highlights the potential of UAVs in supporting diverse communication scenarios, such as enhanced mobile broadband (eMBB), ultra-reliable low-latency communication (URLLC), and massive machine-type communications (mMTC). It also outlines the unique attributes of UAVs, such as flexible deployment, strong line-of-sight (LoS) links, and mobility, which make them suitable for integrating with 5G/B5G networks. The paper reviews various 5G techniques based on UAV platforms, categorizing them by domains including physical layer, network layer, and joint communication, computing, and caching. It also identifies open research problems and possible future research directions. The paper discusses the importance of UAVs in providing ubiquitous connectivity, especially in emergency situations where terrestrial infrastructure is not feasible. It also highlights the challenges in UAV communication, such as channel modeling, deployment, path planning, operational altitude, interference dynamics, limited energy, backhaul cellular communication, network security, and real-time demand. The paper provides an overview of the existing contributions related to UAV communications in the context of 5G/B5G wireless networks, focusing on physical layer techniques, including mmWave communication, NOMA transmission, cognitive radio, and energy harvesting. The paper also discusses the potential of UAVs in supporting various applications, such as emergency services, public safety, and logistics. The paper concludes that UAV communications are an important component of 5G/B5G wireless technologies and that further research is needed to address the challenges and optimize the performance of UAV communications.This paper provides a comprehensive survey of UAV communication technologies for 5G and beyond 5G (B5G) wireless networks. It discusses the key challenges and recent advances in UAV communications, including physical layer techniques, network layer, and joint communication, computing, and caching. The paper highlights the potential of UAVs in supporting diverse communication scenarios, such as enhanced mobile broadband (eMBB), ultra-reliable low-latency communication (URLLC), and massive machine-type communications (mMTC). It also outlines the unique attributes of UAVs, such as flexible deployment, strong line-of-sight (LoS) links, and mobility, which make them suitable for integrating with 5G/B5G networks. The paper reviews various 5G techniques based on UAV platforms, categorizing them by domains including physical layer, network layer, and joint communication, computing, and caching. It also identifies open research problems and possible future research directions. The paper discusses the importance of UAVs in providing ubiquitous connectivity, especially in emergency situations where terrestrial infrastructure is not feasible. It also highlights the challenges in UAV communication, such as channel modeling, deployment, path planning, operational altitude, interference dynamics, limited energy, backhaul cellular communication, network security, and real-time demand. The paper provides an overview of the existing contributions related to UAV communications in the context of 5G/B5G wireless networks, focusing on physical layer techniques, including mmWave communication, NOMA transmission, cognitive radio, and energy harvesting. The paper also discusses the potential of UAVs in supporting various applications, such as emergency services, public safety, and logistics. The paper concludes that UAV communications are an important component of 5G/B5G wireless technologies and that further research is needed to address the challenges and optimize the performance of UAV communications.