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The mobility manager in the Internet of Underwater Things (IoUT) plays a major role in data acquisition. In this paper, one novel obstacle avoidance method based on fluid mechanics is discussed for autonomous underwater vehicle (AUV) in 3D IoUT. The proposed method utilizes ocean current characteristics simplified as stream-function to design an optimal 3D trajectory with an obstacle avoidance function. 3D stream-function is constructed for spherical and cylindrical obstructions in details. Theoretical analysis of 3D stream-function proves that traditional 2D stream-function can be extended to 3D IoUT space under specific conditions. One path deformation method based on virtual obstacle methodology is proposed to overcome the inherent hysteresis problem of the traditional stream-function based obstacle avoidance design. Moreover, we introduce an energy consumption model for AUV to prove that our obstacle avoidance algorithm can improve energy efficiency if actual ocean currents exist. Extensive simulation results verify that the proposed obstacle avoidance method has the characteristics of curve continuity and smoothness, enhanced obstacle avoidance effects, and high energy efficiency. Therefore, the proposed method meets the actual requirements of multi-obstacle avoidance path planning for AUV in IoUT.

Stream-Function Based 3D Obstacle Avoidance Mechanism for Mobile AUVs in the Internet of Underwater Things