Abstract
The forthcoming 6G networks are expected to provide a vision of overlapping aerial-ground-underwater wireless networks. Meanwhile, the rapid development of the Internet of Underwater Things (IoUTs) brings forth many categories of Autonomous Underwater Vehicle (AUV)-assisted Underwater Wireless Networks (UWNs). In this paper, we argue that the AUV-assisted UWNs can be intelligently utilized to track underwater pollution. To perform smart underwater pollution tracking, we propose the paradigm of AUV flock-based networking system and Software-Defined Networking (SDN)-enabled AUV flock Networking System (SDN-AUVNS). We introduce the concept of Mobile Edge Computing (MEC) into the control of SDN-AUVNS and propose the upgrade of the control plane of the SDN-AUVNS to with the multi-tier edge computing ability. By the proposed system architecture, we adopt the artificial potential field theory to construct the network controlling model. And we present the underwater tracking model for SDN-AUVNS, especially for the underwater pollution equipotential line of a particular concentration. Furthermore, to provide accurate path planning for the equipotential line tracking, we utilize the linearizability mechanism to optimize and revise the control input for the SDN-AUVNS. Lastly, we give a fast united control algorithm that can intelligently schedule the SDN-AUVNS to track underwater pollution equipotential lines. In particular, we propose a smart approach with the name of 'Inverse Distance Weighting' to optimize the detection sample of the SDN-AUVNS. Evaluation results indicate that our proposal is able to track/survey the equipotential lines within a satisfactory error.