Wireless Sensor Nodes (SNs), the key elements for building Internet of Things (IOT) have been deployed widely in order to get and transmit information over the internet. IPv6 over low power personal area network (6LoWPAN) enabled their connectivity with IPV6 networks. 6LoWPAN has mobility and it can find an extensive application space only if provides mobility support efficiently. Existing mobility schemes are focused on reducing handoff (HO) latency and pay less attention towards packet loss and signaling cost. In time critical applications under IOT, packet loss and excessive signaling cost are not acceptable. This paper proposes a scheme based on advanced mobility prediction for reducing extra signaling cost and packet loss that incurs due to connection termination in traditional schemes such as Proxy Mobile IPv6 (PMIPv6) handover. In our proposed scheme 6LoWPAN WSN architecture with IPv6 addressing is presented. Based on this architecture the mobility algorithm is proposed for reducing signaling cost, packet loss by buffering mechanism and HO latency in particular. In the algorithm layer 2 (L2) and layer 3 (L3) HO is performed simultaneously with prior HO prediction with no Care of Address (CoA) configuration which also reduces signaling cost to some extent. The proposed scheme is analyzed theoretically and evaluated for different performance metrics. Data results showed significant improvements in reducing packet loss, signaling cost and HO latency when compared to standard PMIPv6 in time critical scenarios.