I would like to know if there is a way to avoid the advertisement in YouTube videos in YouTube application for Android ?
If you have a rooted phone or tablet, you can install YouTube AdAway. It is an xposed framework module that stops/blocks videos ads in the Youtube app.
You also need to install the xposed framework, and activate the module.
Disclaimer: I am still using version 11.45.59 of the Youtube app and the module works as stated above. I am not sure about more recent versions
Edit: Try Youtube Vanced, a modified version of the Youtube app that prevents ads and has other features.