Internet of Things (IoT) is growing and affecting various industries significantly. The amount of sensitive data collected and processed by these devices has raised concerns. Ensuring access control becomes even more crucial in IoT systems due, to their networked devices that operate independently. Because IoT environments are diverse and constantly changing traditional access control methods often fall short. In this context incorporating Semantic Web technologies emerges as an approach to enhance the adaptability and intelligence of access control systems. The implementation of comprehensive access control measures is essential in environments where there are a lot of interconnected IoT devices. Access control policies that are traditionally built for established identities and roles have difficulties in accommodating the dynamic characteristics of the IoT. It is evident that the establishment of predetermined policies is not feasible, as novel circumstances would invariably necessitate customized policy approaches. In light of the mentioned challenges the main focus of this paper is to provide a comprehensive understanding of access control principles specifically tailored to the IoT domain. The goal of this study is to identify the challenges associated with access control in the IoT. Furthermore, we aim to outline a roadmap for research, on developing access control mechanisms that incorporate semantic awareness within the IoT domain. The study explores semanticbased access control solutions for IoT based on this point. The Semantic Web-based access control emphasizes the use of ontologies and semantic reasoning to generate contextually aware and adaptable access control policies. In this study, we present how Semantic Web influence access control decisions in various settings where IoT devices operate. Furthermore, the paper discusses IoT-specific access control challenges. Besides, the importance of using Semantic Web technologies to enhance access control is emphasized. This paper acts as a reference aiming to guide future efforts in developing a policy management system that can adapt more effectively to the ever-changing IoT landscape.